So I usually walk or use public transportations, such as the buses or trains, during mywhen I go on a trip.

My friend asked me, “WhichHow do you choose twhe situation if you walk or ride vehicle?ther you walk or use a car?"

"I’m not used to walking, so I usually choose to a vehicle soon.” ¶
go by car," I answered. “It’s depends.

I would walk if it takes within 15 minutes on foot, I might get lost my thought if it takes 20 minutes on foot, and I would take a ride if it takes 30 minutes on foot.” ¶
How about you?

I wouldchoose to walk if it takes within 15 minutes on foot,to get there, but I get lost ifn my thoughts if it takes 20 minutes on foot, and I would take a ride. I would go by car if it takes 30 minutes on foot.” ¶
How about you?

So I usually walk or use public transportations such as buses or trains, during my trip.

You can’t start a sentence with a conjunction (so), because they are used to connect two sentences.

My friend asked me, “Which wouldo you choose the situation if you walk or ride vehicle?? Riding in a vehicle or walking?”

When you put walking as an option before vehicle it makes it seem like you want to walk in the vehicle, so putting “riding in a vehicle” is just a clarification thing
-It’s not quite clear what “situation” you’re talking about, but if you just want someone to say their preference you can just say “which would you choose?” And then list the options.

I’m not used to walking, so I choose toriding in a vehicle soon.” because it’s faster.¶
I answered, “It’s depends.

-The use of chose keeps your answer all in the same tense
-This is me guessing, but if by “soon”you meant you get places sooner, then you would say that the vehicle is the faster option, not the sooner option
-It’s means “it is.” A good way to know if something uses the word it’s is to replace it with “it is” in your sentence to see if it makes sense. For example: “it’s a baby” “it is a baby” makes sense.

I would walk if it takes within 15 minutes on foot, get lost if my thought it takes 20 minutes on foot, and I would take a ride if it takes 30 minutes on foot.” ¶
How about you?”

-I’m not quite sure what “get lost if my thought it takes 20 minutes on foot” has to do with the sentence? I understand what you’re trying to say, but it isn’t relevant to what your character is actually talking about, so I would say cut it out. The correct way to say that, however, is “If I get lost in my thoughts it takes 20 minutes on foot”
-How about you? Is still part of the character speaking, so it should still be in quotations

I’m not good at driving a cars.

What you had was okay too, but I would've said it like this.

So I usually walk or use public transportations such as buses or trains, during my tripwhen going places.

My friend asked me, “Which do you choose the situation if you walk or ride vehould you ride or walk if given the choicle?

I tried to make it closer to your original Japanese.

I’m not used to walking, so I'd choose to a vehicle soon.” ¶
I answered, “It’s depends.

I would walk if it takes within 15 minutes on foot, get lost if my thought it takes 20 minutes on foot, and I would take a ride if it takes 30 minutes on foot.” ¶
How about you?