Last I was in Kansas City for a few days was in the early 2000s. Since then I have only drive through (without stopping except for fuel and fast food) on a Colorado, Wyoming, Idaho, Utah Arizona, New Mexico touring vacation. I stopped in NO big cities except for gas, if you don't count Ramada Inn off I-40 outskirts of Albuquerque, and that city, really not that big, and easy to get around in, as it is one of the cities the company sent me to.
I suspect you and I are alike, in not preferring big cities, period.
Have they changed? Maybe. I have never like them, always avoided going, unless the company sent me. So, I really do not have a good frame of reference.