Indeed I walk, cycle, use public transport and drive through FH, and have to agree there are far worse places to try and do any of them.
There will always be moments when something could be a little better in some way, but across the many days of each year, I think a balance has been found (almost) where other towns could learn from.
If anything, I think some of the traffic calming has made the roads and pavements MORE dangerous for pedestrians. So it has been made slightly anti pedestrian by the exact things put in place to make it MORE pedestrianised.