"hiking" recommendations in the KC area?

"hiking" in quotes cuz 1. I don't think I'm skilled or in shape enough for something that qualifies as a real, challenging hike, and 2. I don't know that there is anything like that around here

Looking for places within like an hour of the KC metro where you can go walk around in a wooded or nature area for a decent amount of time. Looking for places that really feel like you're away from the city and out in nature.

Wouldn't be opposed to putting a small group together or something to check places out too.

Thanks in advance.