I think both .bin & .gpx can be recorded at same time n'est-ce pas? Although i have never tried that out, both can certainly be enabled simultaneously in 37x0 and 35/34x0. If the info from bin files will be useful please let what binary logs to enable if any. If no reply i'll just do .gpx only.
PS: Sorry Angelo, forgot your question:
In 34/35 - Settings>Navigation>Calculation Mode>Off Road.
In 37 - Settings>Navigation>Car>NuRoute>Calculation Mode>Off Road.
I guess you right though and selecting Pedestrian Mode overides anything set in Car Mode, but i'll enable Off Road anyway [can't hurt anyway can it?].
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