If a town is easier to walk in than to drive in, I will walk. I have never lived in such a place, so I drive.
Hard to believe that we almost got Glasgow style inner city motorways:
https://www.gcat.org.uk/blog/?p=682
NB I lived in the centre of Edinburgh for over 30 years before moving across to Fife and commuting in by train - which is generally a pretty pleasant experience.
Edit: I very rarely drive into Edinburgh - its generally a nightmare.