The historic centre around Plaza Principal and Avenida Juárez is walkable. For the rest of the city — which sprawls — taxis and rideshare apps (Uber operates here) are the practical option. The city bus system covers most areas but routes are complex for newcomers; buses are identified by destination rather than number.
Driving is manageable by Mexican city standards. Traffic is calmer than Mexico City or Monterrey, though the grid of industrial zones and highway interchanges can be disorienting. US-registered vehicles need Mexican insurance, available from kiosks near the border crossings. Street parking downtown requires either a meter or a small payment to the parking attendants who operate informally on most blocks.