Did Henry David Thoreau say “If a man does not keep pace with his companions, perhaps it is because he hears a different drummer”?

Did Henry David Thoreau say “If a man does not keep pace with his companions, perhaps it is because he hears a different drummer”?

Found word for word. Yes. The text appears in works attributed to Henry David Thoreau. Source and location below.

Why should we be in such desperate haste to succeed and in such desperate enterprises? If a man does not keep pace with his companions, perhaps it is because he hears a different drummer. Let him step to the music which he hears, however measured or far away. It is not important that he should mature as soon as an apple tree or an oak. Shall he turn his spring into summer? If the condition of things which we were made for is not yet, what were any reality which we can substitute? We will not be shipwrecked on a vain reality. Shall we with pains erect a heaven of blue glass over ourselves, though when …
Walden, and On The Duty Of Civil Disobedience — Henry David Thoreau, ¶557 · Public domain (US), Project Gutenberg #205 · source

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