Agreed, it is much more pleasant when exploring. These days I also end up often seeing mostly the same things in my few staple routes, but also usually something new as well.

I usually listen to audiobooks or bring a book to read when taking a path I've taken before, which usually alleviates the boredom problem. But it's not always necessary, sometimes if I'm in an energy surplus from delicious bread and sweets walking just feels so good on its own.