This is the town of steep streets, one of the steepest being via Raffaello, named for the artist who was born in a house on its slopes. At the top of the street in a shady park I found him as a bronze statue.
Besides the Ducal Palace and the Duomo the WHS includes a number of other palaces, notably Comunale, Odasi and Palma which I manged to find amongst the narrow streets.
There is no railway station in Urbino, so I reached the town by bus from Pesaro station.