get lost on your purpose
If you want to see the parts of town where real people live & work, you need to go visit them. The best way to do this is on foot — without knowing exactly where you’re going. Write down the name of your hotel so you can catch a taxi back if needed, then just pick a direction and start walking.
Don’t worry too much about stumbling into dangerous neighborhoods either, as locals will generally warn you before you get that far. And you never know what amazing things you’ll find around the next bend…