Next month will mark our 1st complete year of living aboard, so not a ton of experience, but I will share what we do. Most of that year we have been moving around vs sitting in one place. We have not had a car with us, but we might bring a car to FL since we are likely going to hang around here a while.
Walking: Fortunately we are healthy enough (knock on old teak that needs to be refinished) to walk a lot, so we do. Last night, dinner and back was a little over 5 miles, half of which was along the beach -- nice night! We do it and enjoy it, and know someday we will not be able.
Biking: We use our bikes a lot to see towns and to run errands when cruising. We have put several hundred miles on both bikes and would not cruise without them. With a couple of back packs, one can provision pretty well using the bike. Ours are just old bikes we had before we moved aboard. Nothing special. Not electric, and not particularly corrosion resistant. They were very good bikes in their day, but old enough we were OK sacrificing them for this journey.
Uber: We have no concerns using Uber and have used it as needed when walking or biking didn't seem appropriate.
One Wheelers: I'm seeing more and more cruisers using them and they seem great given their small size, decent speed, and good battery life. However, I've never been on one and worry I might crash more times than I like, so I just admire them and wish I was younger, in which case I would likely get one for the boat. The good ones do seem pricey, though.