We do urban locations when we have no vehicle at the destination, and rural destinations when we do. Sometimes it's a mix.

Last year we were a few days in Bangkok on foot/public transport, then rented a car and drove to a National Park, up to the River Kwai, and other destinations. There are advantages to both, but, of course, the cities tend to be more crowded, full of tourists, and often difficult to have a car. Motorbikes are not hard to park even in the most crowded places, but it kind of defeats the purpose of having your own transportation to get off the beaten path, and then choosing a destination, such as a vibrant urban city, that is easy to navigate on foot or with public transportation. Our motorbike travel tends to be very remote, with National Parks, offbeat Unesco sites and the scenery being a focus of the trip. Our urban travels tend to be based as close to the city center and bus/train transportation as possible, and to large, historic urban destinations.