I have similar feelings about travel. I’m always happiest when I’m exploring a new place. When I land in a new city, I just like to walk, wander, and explore for hours. I want to experience the local life, eat real food, and feel the place.
My typical experience is to drop off my bags where I’m staying and then start walking away, down the street in a general direction. I did this before the world of smartphones. I’m lucky to have a good sense of direction, so I never really got lost.
I would stop if something caught my eye. A small bookshop, a cool cafe, a museum, a nearby park. Then just continue exploring, usually in a big arc that brought me back in the general direction of my temporary “home.”
Then repeat the process in a different direction the next day, and the next. I don’t tend to use tourist guides or visit the “famous” places. I just want to feel what it would be like to live there.
I’m jealous of your nomadic lifestyle. You actually do get to live there. Enjoy!