DD is 2.5 so I know where not there yet but just wondered what age your little ones were when you took the pushchair away as an option.
DD has pretty good stamina for walking, we go on a dog walk daily and she can easily manage 45mins - 1hr at toddler pace (we meander around the woods so it's not like we have to be anywhere). If I go on a short trip to the supermarket or the library I don't bother taking the pushchair (supermarket is a drive away so I have the car on hand, library is about 5-10 min walk from our house).
We typically use the pushchair for days out and longer walks, but through the summer she wasn't happy about being in it much and wanted to walk. I've noticed since the weather is colder, she's asking for the pushchair more (and a blanket to wrap up in 🤣) and it just got me thinking about what age you remove it as an option for longer walks/days out or do you just wait until they no longer want to be in it?