Stealth And Detection In Urban Terrain
In a settlement with wide, open streets, the maximum distance at which a creature can succeed at a Perception check to detect the presence of others is 2d6×10 feet. In a settlement where the buildings are more crowded, standing close together, this distance is 1d6×10 feet. The presence of crowds might reduce this distance.
Thanks to twisting side streets and vehicles that can provide cover, it’s usually easy for a creature to use Stealth to hide in a settlement. In addition, settlements are often noisy, making Perception checks that rely on sound more difficult, usually increasing the DC of the check at the GM’s discretion.
Source
Core Rulebook pg. 398