This is what Estepona is like!
Three points about Estepona.
(1) Firstly it is less concentrated tourism than other resorts. You do not get here street after street of Bar, Bar, Restaurant, Restaurant, Tourist Shop, Bar, Bar, Restaurant, Restaurant, Tourist Shop. Many people love ambling and browsing like that, but it's not available in Estepona.
(2) The second point is that it is stretched out along the coastline, with hotels and very attractive apartment complexes with gardens and pools quite some distance from the main town where you find the Old Town, the Promenade, the Marina, the Markets, etc. There are obviously shops and supermarkets and restaurants spread out along the coast too, especially towards the eastern part of the coast, but to be at the heart of things you may need to travel in. All the big 4 and 5 star hotels (Globales, Las Dunas, etc) are way outside town. There are currently not that many hotels in the centre, although there are Airbnb and individuals renting out apartments for short and long stay.
(3) And finally the Estepona town area is therefore more Spanish. The beautiful Old Town, for example, is where people actually live, and so you see people sweeping the (vehicle-free) street outside their door, and shops selling vegetables rather than postcards and fans.
Here are some links to some of the things to see and do in Estepona, to give you a feel of the place
*** Centro historico, the Old Town
*** The Giant Murals
*** The Orchid House
*** A typical little square: pasaje Alicia Villapadierna
*** The seafront promenade
*** Another charming typical square: Pasaje Maria Cintrano
*** The Coastal Path
*** And another delightful little square: Felipe Campuzano
*** Strolling around – pots everywhere:
*** The Marina
*** The main beach: Playa de la Rada
*** Mercadillo del Puerto – Sunday market in the Marina