Take some kind walking tour wherever you end up in new city, then pester the guide for local info.
I live by freestyle travel. I just try to plan out how I’m traveling and where I’m sleeping. Other than that it’s usually a build your own adventure type approach for me
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That's the way I've done it having travelled with someone who is persistently nomadic.
I'm also just not a big planner. Plans suck the fun out of most things.
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💯 Spontaneity is always good. Plans are too but to he flexible.
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