Having recently had knee surgery, I can tell you that you can see a lot by driving around. We took relatives up to the Grand Canyon and I did some walking, but more riding, and sat when I felt i could not walk anymore. I think just doing some varied drives would give you a feel for the beauty of Sedona and the area. I walked some uptown, but then sat and rested. I have done Tlaquepaque slowly, and have given up most hikes for now, but our relatives still saw the beauty of the area while we drove them all around. I would also say find some restaurants that have views and sit and have a drink at them and enjoy the surroundings.