Lincoln is mostly suburb, and it is still growing, which means there are neighborhoods full of families walking dogs on sidewalks and on the trail system that ties the whole town together. There is a lot going on out there, and that is exactly what makes it a good place to train.
There is also a rural side. Lincoln has horse properties, open land, and a whole trail network running through town, so a dog here can meet a horse, deer, or a coyote without ever leaving the neighborhood. That is a lot to see and a lot to react to, and it is also a lot of opportunities to practice getting it right.
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.