[sn9]

In general cardio will always use more energy than lifting because you can simply do much more of it.

Cardio is continuous work while lifting is work done a few seconds at a time.

Walking in particular is still moving your body horizontally through space. That horizontal displacement is the biggest determinant of energy cost for any given body, all things being equal.

Running only burns slightly more per unit distance because there's slightly more vertical displacement as you're literally leaving the ground between steps.