It’s not your fault.

Maintain your boundaries no matter how angry she gets.

Don’t confront her and expect her to come to see your perspective, that is beyond her.

She does not “force” you to go on hikes. She bullies you.

When she proposes a long hike, say no thanks and learn to tolerate the anger.

You could propose a shorter one if you want to.

Read up on co-dependency. Her method is to bully you, try to make you feel bad, so that you will do what she wants so as to stop the bad feelings. An option is to say no and tolerate the bad feelings.