Aurora is partially walkable, especially in its historic downtown area, where travelers can conveniently access cafes, shops, and restaurants. However, for a traveler looking for the luxury of accessing a wide range of amenities on foot, certain areas are car-dependent, necessitating some form of transportation beyond walking to reach destinations further afield.

Aurora offers decent public transit options with York Region Transit providing bus services within the town and GO Transit connecting to Toronto. These services are beneficial for reaching larger urban centers, yet the frequency and coverage may be less comprehensive compared to bigger cities. This could pose a challenge for travelers relying exclusively on public transportation, requiring some planning to navigate effectively.

Aurora has a budding network of bike lanes and trails, such as the Tim Jones (Nokiidaa) Trail, which supports recreational cycling. However, the overall cycling infrastructure is still developing, with some main roads presenting challenges for cyclists. Those traveling by bike may not find it the most convenient for all journeys, especially for daily commutes or errands where road conditions require more caution.