Everything in holster design involves compromises among the four basic factors of comfort, accessibility, security, and concealment. Whenever one factor is emphasized there will be compromises in the other factors. Only you, as the user, can decide which factors are most important for your purposes and how much compromise you are willing to accept.
Given your stated goals (hiking, camping, to and from the store with reasonable concealment) my first recommendation would be a good pancake-style holster carried on the strong side just behind the point of the hip (about 3:30 to 4:00 position for a right-hand shooter). Excellent combination of comfort, accessibility, concealment and security.
Retired now so I don't have a stake in this business anymore, but you can do worse than clicking on Lobo Gun Leather website. The good folks who purchased my company are still making my "Enhanced Pancake" holster design that I highly recommend for carrying the larger revolvers comfortably in any circumstances.
Best regards.