I lived in Kendal for over 30 years and I always thought that the area was rather boring and scrappy for walking, though no doubt others will be along to disagree
It is, however, a good base to visit the Eastern & Far Eastern Fells; the Yorkshire Dales; and the Northern Pennines
Drive into Longsleddale, Kentmere, or to Mardale/Haweswater and go up the surrounding fells. Kentmere Horseshoe is a classic walk, though you can do it in two halves if you wish
High Street is straightforward enough from Haweswater
There are pubs, but I don't know the current situation as they're closing all over the place
For a long time The Haweswater Hotel had the reputation of being the most miserable pub in the Lake District, though i hear it has improved recently
Visit The Ring o' Bells at the southern end of Kendal. It has kept the traditional layout, and is the only pub in Britain on consecrated ground
Richardh 1905 I think you've misread the OP Restless native is camping near Kendal, and the walks you've suggested are near Keswick
Beware - the farmers in the Lake District shoot first and ask questions later; keep your dog on a lead