We've gone to Europe a a number of times in timeshares car free. These were all via RCI though.
Definitely second the recommendation of Fitzpatrick Castle. Walk to the light rail train in Dalkey for easy access to Dublin. Also Dalkey has good restaurants and pubs, grocery stores and bakeries. The Fitzpatrick Castle main hotel (on the same grounds as the timeshares) also has tours that start/end there. We went to Wicklow and Newgrange on great tours.
https://photos.app.goo.gl/IZthlxLIkDqAD9Nn1
https://photos.app.goo.gl/ftRcB8RZFkIDWJxG2
We were able to get a timeshare in city of Florence in the historic area. I also see (rarely) a few timeshare apartments available in Venice.
https://goo.gl/photos/igd3b1FjVdYrPVdM6
We were good with the timeshare at Carpe Diem in Assisi (seemed we got a better unit than other reviewers). They have a shuttle bus into town where you can catch the train to tour many towns in that part of Umbria and Tuscany.
https://photos.app.goo.gl/5hD7WePk25oHA8Tp1
Have stayed in London at Odessa Wharf, walk or bus to the tube station for sightseeing everywhere in the London. We walked to Greenwich from there too.
https://goo.gl/photos/vqVPAFirycW5wfMDA
We also loved Mondi Oberstaufen in the Bavaria area of Germany. The condos are walkable (but a bit hilly) from the train station (or a really cheap cab fare). The charming town of Oberstaufen has grocery stores, bakeries, restaurants. There is also a local bus stop at the resort. We took day trips on the train into Munich and to Lindau.
https://goo.gl/photos/5ufGnefZ1DjAvtoWA
Sadly one of our favorite exchanges in the car-free village of Muerrin Switzerland went bankrupt and has been closed for years.
https://photos.app.goo.gl/nrtt1OgQUI73Bl9v1
Love the info about Kilconquhar and the walking paths. That has been on my bucket list but we didn't want to rent a car so it's good to know about that.