Since you specifically ask about touch:
Tactile architecture could use texture of the surface they navigate in order to direct flows of traffic.
If they always walk, and are always barefoot, that's a pretty convenient way to constantly be "reading" where you are.
As far as avoiding other pedestrians, maybe they talk constantly, or hum while they walk to help others avoid them.
Other thoughts to consider:
Ultimately all organisms navigate their surroundings my absorbing energy from the environment, and interpreting those energy signals.
Sight is electromagnetic energy.
Sound and touch are mechanical energy.
Taste and scent are chemical energy.
Ultimately, these senses are for avoiding predators, or finding prey.
Others have gone into solid suggestions about Sight, Sound, Taste, Scent, and Touch.
One I would also offer is the sensation of heat or cold from the environment.
If that is sensitive enough, a hypothetical mole person might be able to sense the radiant energy of its environment with enough resolution to be as effective as sight.
Heat can also be reflected off of surfaces, meaning that a creature that can use radiant heat as its "light" could also effectively use it to see around corners in the same way that a bat can listen to echos to map its surroundings.