no, I think you mean 'we had a nice relaxing time' 'we took our time and enjoyed it' or something - what was it? a dinner? a walk? it depends what the activity was

No, I don't even know what you mean by it.

We could say "We take our time." That means we are not rushed or we refuse to be in a hurry. (Google Mr. Rodgers "I like to take my time" -Mr. Rodgers was a children's television personality- for a sweet little song that will give you a sense of that phrase.) If you are taking time while walking you could say you are ambling, meandering, strolling. You could also do anything at a leisurely or relaxed pace.

We enjoy every minute of our time together. We savor every moment together.