Didn't walk out on the only prequel I've seen, Phantom. Didn't like the film, but not enough to leave. Not sure why. I thought it was pointless, directionless, terribly written, and terribly acted. I suppose it was just shock at how bad it was. Sort of like looking at a train wreck and trying to make sense of it.
I was actually closer to walking out on Return Of The Jedi, but didn't. It was also shockingly stupid and poorly written, but at least it had Luke. The rest was just a marketing tie-in and rehash of Star Wars. Lucas already had the writer's block he was about to unsuccessfully spend twenty years trying to overcome. ROTJ is where I said goodbye to the franchise.
I've only ever walked out on two movies. Rambo and Back To The Future II.