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I would suggest trying to get walks in either much earlier in the day or much later.

There usually aren't very many people walking around at either sunrise or around sunset and there is usually at least a half an hour before sunrise and after sunset where there is enough light that a  flashlight/headlamp is not needed.

After dark, there is basically nobody though depending on the urban area that might not be the greatest idea.

At least in my experience walking on trails and around urban areas during the virus situation,

 - There are far fewer people out and about walking. There are far fewer cars and stepping into the street/crossing the road to avoid people is not hard either.
 - People are doing a pretty good job of staying away from each other when paths cross, stepping well of the trail/sidewalk to let others pass.