The word caminasteis is the preterite form of caminar in the second person plural.
See the full caminar conjugation
caminar
Sabemos que tu hermano y tú caminasteis hasta el banco después de la escuela. | We know that you and your brother walked to the bank after school let out. |
¿Nunca habéis caminado por un sendero por el que caminasteis cuando erais niño? | Have you never walked a path that you trod once when you were a child? |
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