That's a bit of a problem. As the sibling comment insinuates, if a city has managed this well, it's likely that it will also get a lot of tourists because of the atmosphere. Bamberg would be an example that isn't one of the big ones like Amsterdam, but of course it also gets a lot of tourists.

I can only speak for places I've visited, but many Belgian towns are highly accessible by tram and cycle routes and come to mind.

La Panne / De Panne, Oostende, Knokke-Heist, etc, all have quite vibrant town centres, seasonal events, food markets, playgrounds, free-to-the-public pétanque/boules courts, you name it.

Then in France, Strasbourg has completely pedestrianised the town centre, which is similarly successful, although a little more touristy as you say - nice places attract tourists and shopping, it's unavoidable!