No. Don't use it.
In hospitals, a patient who is able to walk is said to be "ambulatory," but it is used only in a medical context.
You can use the word "amble," for a relaxed, slow walk, either as a verb or a noun:
"Let's amble on over to the park and listen to the carillon concert."
"This isn't a strenuous hike, it's just a short amble on a level trail, with a wonderful view at the end."
If I heard the word, I'd be able to guess what it meant, but I wouldn't be 100% sure it was actually a word without looking it up.
There's a kind of feeble humor that consists of intentionally using obscure words:
"My dear, allow me to solicit your acquiescence in ambulating with me on a dilatory peregrination o'er the local prominences to enjoy the ozone and listen to the vernal bombinations of _apis mellifera_..." I DON'T recommend it.