I've read enough about hiking pacing. Whatever people or experts say, it depends on your fitness, your weight, your natural pacing, somewhat (but hopefully not too much on age) - and the terrain. Especially the altitude change and the amount of rocky or bouldery trail.
The thing people estimate is 2-3 miles/hour, but it depends on terrain. An hour of 5-600-foot altitude change slows you down, especially with rocky trails. Also, on how much you want to look at birds, take in the landscape, or take a photo.
Since Mrs. BD and I are no longer 20 years old, we always use hiking boots and carry hiking poles. Don't always need the latter, but when needed they are good to have for the tricky, rocky, clambering, steep, slippery parts. Sometimes only for balance, but I grew up with a walking stick broken from the woods. Feels natural to me.
Our hiking pals in Arizona last week are speed demons, no matter how steep or rocky. We can't keep up. We catch up with them waiting happily for us in the shade of a lone juniper drinking water and having a granola bar, but impatient to keep climbing.
Over years as amateurs we have learned a few things about day hiking: Skip breakfast except for coffee, because food saps your energy. Drink water before you want it. Do not stop and rest for long. Keep a rhythm. Keep your eyes on the rocks and roots on the ground, and you'd hate to step on a rattlesnake. Mentally grind it out when needed because you always have miles left in ya even if you feel like you don't. 6-7 miles of rocky hill hiking is plenty for me for a 6 AM morning hike.
Then a 20-minute nap. Plenty of time later in the day for a less strenuous expedition.