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Walking in London from Paddington Station

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We have a 9-hour layover at Heathrow (Dublin-London-Toronto) and would like to use the time by taking the Heathrow Express to Paddington and walking from there. Realistically, we should have 4-5 hours of walking time, and as neither of us have been in London for at least twenty years, we've forgotten the distances involved. Could we walk, for instance, from Paddington along Oxford Street or through Hyde Park and then down to Buckingham Palace, and perhaps further, down to Westminster Abbey, all in time to catch a tube(s) back to Paddington and then to LHR a couple of hours before departure? Anybody have other ideas for walks (not structured walking tours), given our time constraints and arrival location in London? Any ideas very much appreciated indeed.

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