Questions & Answers about Мы идём по прямой улице к вокзалу.
Because идём comes from идти, which is the verb of motion used for going in one direction right now.
So Мы идём... means We are going / walking... in a specific direction at this moment.
By contrast, ходим comes from ходить, which is used for:
- repeated or habitual movement,
- movement in different directions,
- general ability or custom.
Compare:
- Мы идём к вокзалу. = We are going to the station now.
- Мы ходим к вокзалу каждый день. = We go to the station every day.
Идём is:
- 1st person plural: we go / we are going
- present tense
- from идти
So the sentence starts with Мы идём... = We are going...
Also, in Russian, the present tense of идти is often translated naturally into English as are going rather than just go, depending on context.