tips for wandering in a city?

hi all, I’ve (26M) been on one solo trip to Hanoi so far and I’m preparing for my next one which will be a week in Austria in early May. I’ll spend some time at Innsbruck, Vienna, and St. Gilgen throughout my trip.

planning to hike mostly but will also spend time taking it slow in each of those cities/towns. on my last trip, I felt a bit uneasy walking around without an aim/going somewhere intentionally. I want to be able to chill and just explore an area aimlessly, people watch, sit by the water etc. without feeling like I need to make the most of my short time there.

any tips for wandering/exploring a city?

thanks in advance!