it seems to be a typo in the above exercise. It says "damos" instead of "vamos"
There are two ways to say "to go for a walk":
dar un paseo
ir de paseo
the first one using "dar" is more idiomatic and very commonly used. This is what we are using in the sentence from the quiz:
Por la tarde mis padres y yo damos un paseo.
(My parents and I go for a walk in the afternoon.)
But of course you can also say:
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Test your Spanish to the CEFR standard