Which one is the best way to know more about a city? Attend a tour group, visit a local history museum, or walk in the street?
I'd prefer to walk along the streets to know more about a city because it is quite free for me to learn about the local flavor.
I can just walk out, choose a well shaded path that I like and wander around. Such experience is very enjoyable for me and this kind of first-hand experience cannot be replaced by any other form listed above. Moreover, trying to tour around is really helpful for me to know the new city well faster and help boost my sense of direction. Once, I decided to walk home every day after work. About one month later, I can identify the exact place of every little barbershop and grocery, let alone the fantastic shopping mall.