If you are in downtown you can walk along the waterfront down Water Street, that is a pretty section and there is a Marina. Water Street is walkable from RAR depending where you park. Great Marsh park is also 5 min from downtown, not much, but a lot of grass and waterfront also. Sailwinds is near route 50, really small park with a beach. Bill burton state park has the two fishing peirs, but the Talbot County side has a small waterfront park with beach, not sure how much in the way of trails.