Kaius is 2.5 and the only time we use our stroller is if he wants to push it around or if I need to pack something heavy home because we also walk everywhere. He sometimes gets in them but it's getting less and less and he usually walks home if I've bought something like a case of water and need to put it in the stroller to get up the hill to get home. When he lets me leave the stroller at home and doesn't want to walk I carry him on my shoulders or his dad carries him, for longer walks or trips with lots of walking and bus rides we use our Ergo because where we live you have to fold up the stroller when you get on a bus.
We also have a big 'cart' that we use when we go shopping, we put cardboard in the bottom of it and he sometimes stands in there but I don't think it's because he doesn't want to walk but because it's fun/different for him and he's usually in and out, he loves to stop and bend down close to the sidewalk to watch the ants and bugs or pick up sticks and rocks.
Lately, I've had to pick up the pace because he walks faster than I do. He also rides his 'bike' which has a handle for me to push or in most cases hold him back from flying down a hill - which I get in trouble for cause he likes to go fast.

He now grabs my hand before we have to cross a street because he knows that we won't continue walking unless he does. He also doesn't argue about holding hands when we're near an open parking lot which is a large part of the walk to one of the stores we go to frequently (parking lot after parking lot with no clear markings as to where the entrance and exits are).
I'm now starting to ask him if there are cars coming so he can help determine if it's safe to walk across a street. When he's pushing either his bike or his stroller he knows that he shouldn't let go when we cross the street and I hold onto his hand and the handle of whatever he's pushing at the same time so he can't bolt (though he's never been a big bolter)

I try not to make a big deal out of the hand holding part so that he realizes it's not up for debate (especially since he seems to want to make all the decisions lately). I either stop and hold out my hand or just say here comes a street, hold my hand please. I also give him lots of warning if he seems caught up on looking at something (cars, motorcycles, people, the wheels of his bike, etc) and isn't paying attention to what is in front of him - letting him know he needs to pay attention soon.
I explain everything a lot so that he understands that we do it for a reason.

HTH!