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Walker, who turned 40 on January 2 and who still lives in Whitstable, has been on the coaching staff at Essex since 2009 after the end of a 19-year playing career, with 15 years spent at the Spitfire Ground, St Lawrence.
The batsman scored more than 12,000 First Class runs for Kent, including 28 centuries, one of which was a knock of 275 against Somerset at Canterbury in 1996 which remains the highest ever individual score at the ground.
Walker said: “I am delighted to be returning to my roots.
"I cannot wait to get back to Kent and get started in helping the Club deliver some on-field success.
"I would like to thank everyone at Essex for the support they have given me and I wish them well for the future.
"A return to my home club is something I hoped for and I aim to help a talented group of players deliver what they are capable of.”
The new coaching team will take up their posts during February.
Dan George is the new first team physio, stepping up from the 2nd XI role and replacing Nimmo Reid who will oversee club player science and medicine aswell as running St Lawrence Clinic.
Michael Najdan joins the club as an analyst after leaving OPTA Sportsdata where he has been responsible for analysis of county and international cricket. He has previously worked for Cricket Australia, ESPN, Star Sports and Notts County FC.
Jon Fortescue will be the new Strength and Conditioning Coach after leaving a role as Head of Academy Sports Science at League 1 play-off chasers Wolverhampton Wanderers.
Fortescue was previously Head Strength and Conditioning Coach at Premier League side Southampton and has also worked with Surrey, Warwickshire and Hampshire.
Head coach Jimmy Adams said: “I am really pleased with the team of support staff that we have assembled.
"They are all extremely experienced within their fields and will, I am sure, do much to help get the best from all our players as we continue our pursuit for team success.”
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