One way to achieve both skill-based and delightful movement is to reward precise timing with greater movement abililty.

Moving from point A to B can be boring. By having to time a button press, the player can be rewarded with extra height, speed, etc! It creates both a fun a challenge dynamic that can keep normally mundane movement fresh and interesting!

Precise Input Timing in Actual
Video Games

In Super Mario 64, greater jump height (up to a triple jump!) can be achieved by timing the jump input with the moment Mario lands from his previous jump.

In Super Mario World, vertical height in the air can be maintained by timing presses of the back button while gliding with the cape. With extra precise timing, height can gained!