You probably won't hear it unless the speaker is enunciating very carefully. We run the "-ed" into the "t". Context will almost always tell you which word they actually used.
What did you do yesterday?
I walked to school, then ...
How do you get to school every day?
I walk to school.
They will sound very similar, if not identical, but the preceding question in my examples will make it clear what the answer should be.
Student or Learner