If I enter the US by land, not needing ESTA, would I then need ESTA to enter by air 3 days later?

I am a UK citizen, and therefore qualify for the USA's Visa Waiver Program (VWP).
If I enter by air or sea I need to apply for (and pay for) ESTA beforehand.
If I enter by land, I don't need ESTA. But I do get a 90 day visa waiver which allows me to go to Canada and return to the USA, on the same VWP.
My question is: If I first enter the USA on foot, from Canada (at Niagara Falls), return to Canada on foot, and then 3 days later fly from Canada into the USA, do I need ESTA? Or as my existing visa waiver is still in place, is that good enough?
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Do I need ESTA to enter US by land?
Visitors to the US who intend to enter the country by land must get a valid ESTA before arrival. Travelers are advised to request their travel authorization at least 72 hours before departure, in case of delays.How far in advance does an ESTA need to be done?
Although there are no specific rules regarding how many days in advance you need to apply for ESTA, normally you will receive the results of your application within three days, or 72 hours. Therefore, it is recommended to apply for it at least three days in advance.Do I need an ESTA to return to US?
If you are coming to the U.S. by air or sea, you DO have to apply for ESTA. If you are not a citizen of a VWP country, you are required to have a visa, and therefore ESTA does not apply to you.What is US ESTA? How to Check ESTA status? What do I need to do if I am denied my ESTA?
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