Auburn is a real town, not a suburb, and it sits where the foothills start climbing. That means narrow streets laid out in the gold rush era, steep sidewalks, and a downtown and an Old Town connected by roads that were never designed with a leashed dog in mind. It is a lot to manage, and it is also the best training ground you have.
Then there is the canyon. The American River gorge runs along the south side of town, and the trails that drop into it are steep, narrow, and busy with hikers, runners, mountain bikers, and horses. A dog who can hold it together on a canyon trail has learned something that a suburban cul-de-sac will never teach.
I do not look at the stressful spots as reasons to avoid walking your dog. I look at them as opportunities to get better, and when you train from that perspective, you reach your goals more reliably, and faster.