If you find this interesting, you’ll likely also find this book interesting https://www.bldgblog.com/topics/a-burglars-guide-to-the-city.... The book is really a taster for the other posts in the blog https://www.bldgblog.com/
The essay reminds me very much of how my perspective on urban space changed when I started bicycling around my city, and ow it changed my relationship with the space. The city got smaller, and I got into a relationship with the topography -- hills relate to cycling more profoundly than to walking or driving.