У вас в present simple уже все написано
Past simple: they usually walked together,he did his homework in the evening, my family always wathed tv on sunday
Future simple: they will walk together, he will do his homework in the evening, my family will watch tv on sunday
Present continuous : they are walking together, he is doing his homework, my family are watching tv
Present perfect: they have walked together, he has done his homework, my family has watched tv