אחרי הפיקניק נוכל ללכת ברגל הביתה, כי לא בא לנו לחכות לאוטובוס.

Hebrew often puts a time expression at the beginning to set the scene first. אחרי הפיקניק means after the picnic, and placing it first is very natural.

You could also say:

נוכל ללכת ברגל הביתה אחרי הפיקניק...

But starting with אחרי הפיקניק sounds smooth and helps frame the rest of the sentence.

Because the verb already tells you the subject.

נוכל means we will be able / we can, so Hebrew usually does not need the separate subject pronoun אנחנו unless you want emphasis or contrast.

Compare:

• נוכל ללכת = we’ll be able to go
• אנחנו נוכל ללכת = we will be able to go, with extra emphasis

נוכל is the 1st person plural future form of יכול / יכולה / יכולים, meaning can / be able to.

So:

• אני יכול/יכולה = I can
• אנחנו יכולים = we can
• אנחנו נוכל = we will be able to / we can later

Here it fits because the action is in the future relative to the picnic.

Because Hebrew uses an infinitive after verbs like יכול.

So the pattern is:

• יכול + infinitive
• נוכל + infinitive

Here:

• נוכל ללכת = we’ll be able to go / walk

This works like English can go, want to go, need to go, except Hebrew often uses the infinitive with ל־:

• יכול ללכת = can go
• רוצה ללכת = wants to go
• צריך ללכת = needs to go

ברגל literally means by foot, but in natural English it means on foot or walking.

It is singular because that is simply the Hebrew idiom. Hebrew says:

• ללכת ברגל = to go on foot / to walk

Even though humans have two feet, the expression uses the singular רגל.

הביתה is a very common Hebrew form meaning homeward / home.

The ending ־ה here is an old directional ending, sometimes called the locative ה. It adds the sense of toward a place.

So:

• בית = house
• הביתה = home / toward home

In everyday Hebrew, הביתה is the normal way to say home in a sentence like this:

• ללכת הביתה = to go home
• לחזור הביתה = to return home

Using לבית here would not sound natural for this meaning.

כי introduces a full reason clause, so here it means because.

• כי לא בא לנו לחכות... = because we don’t feel like waiting...

Yes, Hebrew can also use בגלל, but the structure is a little different:

• בגלל הגשם = because of the rain
• בגלל שלא בא לנו לחכות... = because we didn’t feel like waiting...

In this sentence, כי is simple and very natural.

Because בא ל... is a fixed colloquial expression.

In this expression, the verb usually appears in the 3rd person masculine singular form:

• בא לי = I feel like it
• בא לך = you feel like it
• בא לו = he feels like it
• בא לנו = we feel like it

So even though לנו means to us, the verb stays בא. You do not normally say באים לנו for this meaning.

לא בא לנו is a very common colloquial way to say:

• we don’t feel like it
• we’re not in the mood
• we don’t feel like

In this sentence:

• לא בא לנו לחכות = we don’t feel like waiting

Grammatically, לנו literally means to us, so the expression is built differently from English. But as a whole, it is best learned as one chunk.

It is mostly spoken, informal Hebrew. In more formal or neutral Hebrew, you might see things like:

• אין לנו חשק לחכות = we have no desire to wait
• אנחנו לא רוצים לחכות = we don’t want to wait

Because the verb לחכות requires the preposition ל־ before the thing or person being waited for.

So Hebrew says:

• לחכות למישהו = to wait for someone
• לחכות למשהו = to wait for something

Therefore:

• לחכות לאוטובוס = to wait for the bus

You do not use את with לחכות.

Also, לאוטובוס is formed from:

• ל־ = to/for
• ה־ = the
• אוטובוס = bus

Together they become לאוטובוס, meaning for the bus or literally to the bus in form, though the real English translation with לחכות is wait for the bus.