mid-15c., "route of travel," from Late Latin itinerarium "account of a journey, description of a route of travel, road-book," noun use of neuter of itinerarius "of a journey," from Latin itineris "a journey," from ire "go" (from PIE root *ei- "to go"). By early 15c. it meant "record of a journey;" extended sense "sketch of a proposed route, list of places to be included in a journey" is from 1856.
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