Walker also supplied nine assists and seven rebounds while Henderson sank 12-of-18 shots from the floor and went 9-of-10 from the foul line as the Bobcats won for the first time in three games.
The Magic, meanwhile, remained winless since March 10, despite 29 points and nine boards from Tobias Harris.
Kyle O'Quinn (23 points, 11 rebounds), Maurice Harkless (18 points) and Jameer Nelson (13, 11 assists) also reached double figures for Orlando.
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