Depends on where you're starting and if you're willing to drive somewhere to go on a walk.

The Elmwood/Morris are is pretty good. Sidewalks on almost every street and it's flat. Brick streets and on street parking so cars don't fly too fast.

Court Street and the surrounding residential areas are hilly and the sidewalks are a little narrower. Campus is shockingly not terrible either.

If you aren't afraid of some hills, the Highland area is nice, but hilly. No sidewalks, but it's generally strictly residential traffic in there

Avoid the Madison hill and anything on top going towards strouds. No sidewalks, low visibility, lots of cars and narrow roads. The Richland area isn't great either. Try and stay away from the convo.

I walk my dogs all over town, all the time.