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Mountaineering might be a useful term to use. It’s when a walk becomes more than a walk, you need your hands for balance, you might need a rope for protection, it’s a long way down. But it’s not yet a climb. You aren’t perched on holds. Your hands are for balance not for hauling yourself up (they shouldn’t be for an easy climb, either).
Be under no illusions. It’s mountaineering. You need the skill and care to make the most of it. You may need rope, protection gear and the knowledge of how to use them.
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