Not necessarily a town per se but the
Port Huron, MI KOA has a rails to trails path that connects the campground to a 10+ mile trail. Be warned though: That KOA is very popular with families and is usually booked up every weekend in the summer.
Here is the trail:
Wadhams to Avoca trail. The trail ends at an old 640 feet long trestle bridge.
Access to the trail from the campground is simply
a gate at the very back of the campground.