Just looking for a nice charming, town where we can relax the last few days of our vacation and enjoy England.
I'm looking for something with some English charm that has things to see/do for those on foot...
I would say you can't go wrong with a stay in York for English charm -- it has bags of it! York Minster (even if you don't fancy history/museums) is an absolute MUST & be sure to take the guided tour that comes with your entrance fee!
Plus if your health is up to the challenge & it's a reasonably clear day, pay the extra money to go up the narrow winding passageway of 275 steps to the top of the central tower for an amazing view all around!
Have lunch/tea at Bettys!
http://www.bettys.co.uk/cafe.asp?storyid=%7BCE5F672F%2DE1B0%2D4E5C%2D8F57%2D14237779479D%7DOoooh & take a ghost tour! I did that once in York & it was so much fun!
we more like just exploring and seeing how people outside of London live...
People outside London actually live
quite well! I love it here (Yorkshire) & can't imagine living in London myself -- though it certainly has its appeal and its own charms. If you have any questions about Leeds, let me know! Leeds Univ is easily accessible from city centre on foot, btw.
Hopefully, someday you'll be able to return & maybe rent a car as well -- because in both York & Leeds, you're very close to some amazingly gorgeous countryside as well in the Yorkshire Dales and the North York Moors national parks.
http://www.yorkshiredales.org.uk/http://www.visitnorthyorkshiremoors.co.uk/And the North Yorkshire coast is also beautiful -- all those old fishing villages, some actually built on steep cliffs overlooking the rugged wildness of the North Sea.
(I mean no disrespect to Nottingham or Sheffield -- never having spent much time in either. Perhaps those who live there can comment on their charms? Only that my British DH isn't particularly excited about either of them -- whereas he was very keen to show me all the wonders of Leeds and York, plus the adjacent national parks & the coast, etc once I started coming over here.)