"... sauntering... is beautifully derived “from idle people who roved about the country, in the Middle Ages, and asked charity, under pretence of going à la Sainte Terre” to the Holy Land, till the children exclaimed, “There goes a Sainte-Terrer,” a Saunterer, — a Holy-Lander. They who never go to the Holy Land in their walks, as they pretend, are indeed mere idlers and vagabonds; but they who do go there are saunterers in the good sense, such as I mean. Some, however, would derive the word from sans terre, without land or a home, which, therefore, in the good sense, will mean, having no particular home, but equally at home everywhere. For this is the secret of successful sauntering. He who sits still in a house all the time may be the greatest vagrant of all; but the saunterer, in the good sense, is no more vagrant than the meandering river, which is all the while sedulously seeking the shortest course to the sea. But I prefer the first, which, indeed, is the most probable derivation. For every walk is a sort of crusade, preached by some Peter the Hermit in us, to go forth and reconquer this Holy Land from the hands of the Infidels."
Thoreau, Henry David, Delphi Complete Works of Henry David Thoreau
(Kindle Locations 23590-23599).