They have a very pleasant term for it in French: Flâner.
It has more of a peaceful bohemian vibe to it. French people loiter everywhere, on patches of grass, on steps of churches, on fountain ledges.
They even adapted the riverbanks where I live by adding wooden platforms where you can have picnics, or just hang out with your friends whenever you want, and even benches.
I have a little park right next to my bus stop in the middle of the city centre (It's like 15m2, the size of a bedroom, but that's enough for people to come "loiter"), and they also keep doing constructions to create new open spaces to use with trees and water spots.
"Flâner" is a way of life here.
It's amazing.
It's been greatly beneficial to my mental health.