Based on your paragraph you wrote, it appears you are doing several things right to help you meet your fitness goals. You are listening to your physician and following directions by exercising and not overdoing it by getting your heart rate up too high. You have a component for both cardiovascular and muscle strength. Since I am not a health professional (but am a pharmacist technician), I have few comments to add to your routine.
But I did not read anything about stretching. It is easy, gentle on bodies, does not get the heart rate up, and makes us feel good and be more comfortable, especially as we age. Is it practical in your life to add 5 minutes of leg stretches after the walk (calf, hamstring, quadracepts, etc) , and maybe a full 30 minute routine a few times during the week? For direction, you can use Bob Anderson's book, "Stretching," a favorite of mine. Also SP videos have stretching.
If you have time and are interested, you might want to try Yoga or Pilates. I started Yoga at age 45, and Pilates at age 50, (now age 55) and wish I had known about them sooner.
Great benefits to both!
I am not qualified to comment on your walking routine. Just do as much as you can, as safely as you can. As you already noted, keep your heart rate where your cardiologist wants it to be.
Keep up the good work!
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