The middle ages were faaaar more colourful than people, especially Hollywood, imagine. Not only clothes, but also houses and especially Castles. Castle walls weren't bare stone. They were plastered, whitewashed and painted. Same for churches.
Kingdom Come Deliverance did a great Job with that and I wish M&B would Copy it.
I barely ever walk through towns. It's tedious and drab to look at. And for my low End PC the loading Times are also too long.
I prefer walking through villages, those Look a lot more interesting, strange as it Sounds.