Pretty, historic town in Burgundy/Jura?

[Twoshoesnewshoes]

We were planning a family holiday with young adult and adult DC for September.
i was thinking Crete or Croatia but now a bit concerned that flights will be cancelled.
ill wait and see but looking into alternatives in the meantime.
can anyone recommend a nice, historic town in Burgundy/Jura, good restaurants and outdoorsy things to do locally- eg kayaking, hiking, castles?

We stayed in clairvaux Les lacs which was lovely for an outdoorsy holiday.

Beaune.

Thanks both I’ll have a look

Semur-en-auxois is also pretty.

Thank you! Will have a look

Slightly further East is Besançon, which is very pretty. Seems to have things to do.