Find sand. Even better, find sand dunes or sand hills and if legal, train by hiking up and down them with your pack. Jog through them if possible too.
I know we aren't horses, but when I used to enter endurance rides with my horses, their conditioning improved dramatically when I worked them out on sand.
I know we aren't horses, but when I used to enter endurance rides with my horses, their conditioning improved dramatically when I worked them out on sand.