tootled

Tootled is the past tense of tootle, which means to make a series of soft, casual sounds on a wind instrument—not a proper melody, just idle tooting: He tootled on his flute while waiting.

By extension, tootled describes moving along in an unhurried, aimless way, especially in a vehicle: We tootled around the countryside all afternoon.

The word has a gentle, slightly whimsical quality.