grammar - Direct objects of motion verbs and help with the difference between を and に

まちをぶらぶらあるく。
English translation: Walk aimlessly through town.

I understand that aimlessly walk takes the object town and that’s why we use を, but wouldn’t it make more sense to use に as the town is also the target of the motion verb?

Also can someone please explain these two explanations on the differences since they confused me and is there any resources/worksheets for constructing Japanese sentences?

CHAPTER 3. BASIC GRAMMAR
3.8 PARTICLES USED WITH VERBS

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Unlike the direct object we're familiar with in English, places can also be the direct object of motion verbs such as ｢歩く」 and 「走る」. Since the motion verb is done to the location, the concept of direct object is the same in Japanese. However, as you can see by the next examples, it often translates to something different in English due to the slight difference of the concept of direct object.

The 「に」 particle can specify a target of a verb. This is different from the 「を」 particle in which the verb does something to the direct object. With the 「に」 particle, the verb does something toward the word associated with the 「に」 particle. For example, the target of any motion verb is specified by the particle 「に」 particle.