No but it's good for dogs to go to a range of environments.
I live rurally and foster dogs and we try to make sure that we don't just walk in the fields behind my house. Partially because it becomes boring which encourages bad behaviour, it makes dogs more problematic when they experience something "weird" in a space they feel is predictable, but also desensitises them to the world. Exercise wise it cuts it, but not mentally.
We take ours to things like city parks, national trust type stuff, walk down high streets etc to make sure they keep up their socialisation with things they don't get in the fields eg prams, headlights, joggers, big groups of people
The last couple of cafes we have been with the dogs have been because we are out on a big walk in an environment that has a cafe.
Something like rabbits don't need to become comfortable with cyclists because they won't experience it. Plus (and i know it's a rhetorical point but still!) Rabbits are prey animals not designed for socialisation but designed for a threat system so they don't benefit from it.
You'll find dogs in cafes because owners are out with them for the day in a variety of environments, very few people are deliberately going home to collect their dog to take to a cafe and if they are its because they are probably trying not to leave them for the same periods as you could leave a rabbit
Obviously the foster element adds something different for us in that we can't predict the home they are going to so we are trying to set them up for all kinds of lives from one where they walk all day in a field to being adopted into a city center where they go to work with the owner.
Its also useful for our permanent gang. One for example picked up headlight chasing because they were not being walked near cars, so we have done work on that by walking streets in the town over.
We do deliberately train pub and cafe skills in all our dogs, because it's important to us because their life with us will involve a pub or a cafe because of the walks we do, and holidays we go on with them