An old-school town is walkable/urban in the same way we would advocate for cities: grid layout, main street with buildings pulled up to the sidewalk, pedestrian life, apartments over the stores, duplexes and small apartment buildings giving way to to larger single family homes as you walk out towards the fringes, schools that children can walk to, etc. Good towns have a lot in common with good urban neighborhoods. Probably the main difference is they don't need transit since the whole thing is small enough to traverse under your own power.

Automobile era towns have the same forms as the suburban sprawls attached to cities: stroads, strip malls, parking lots, subdivisions containing homogeneous uses and interfacing at few points with fast arterial roads. They're just disembodied suburbs. The disembodiment if anything makes them worse.

I visit lot of auto-oriented towns on cross-country roadtrips. They're vile places. I wouldn't want to be there any longer than necessary to get gas, food, use the restroom, etc. Sometimes when I take a wrong turn I catch a glimpse of the pre-car main street rotting away, behind the gleaming cloverleaf-adjacent McDonalds. It's sad.

I visit urban towns on vacation, on the way to and from hiking, etc. Sometimes I look up the real estate listings. They're even more expensive than the big city, but without any kind of local industry to pay those prices. They're for second homes or retirement, I guess. Also sad.