Westminster and South Bank work better as a riverside walking route than as a sequence of Tube journeys. Start at Westminster, explore the area around Parliament and cross Westminster Bridge to the south bank. The station provides access to the walk rather than replacing the walking experience itself.
South Kensington groups major museums close together, but proximity does not mean you can fully visit them in one morning. The Natural History Museum, V&A South Kensington and Science Museum offer different experiences. Choose one main visit and keep another optional, particularly with children, mobility needs or a timed admission booking.
Camden and Greenwich are not neighbouring districts or consecutive parts of one continuous walk. Camden combines markets and a canal north of the centre; Greenwich brings maritime heritage, parkland and museums to the southeast. Visit on separate days or link them by transport, but do not let a simplified tourist map hide the transfer.