Maybe some of those 3D Spider-Man games that are set in New York. Or perhaps Asscreed 2 for a decent recreation of Venice. The Batman Arkham games like City are also fun to fly around in.
>what are your favourite cities to explore in vidya /v/?
Probably the last 3 gta games (5, 4, and San Andreas). 3 and Vice City have aged so poorly, they're not fun to play anymore.