I live in town too, and even though there is a range with a variety of up-hill, down-hill, and other targets, it's a 1/2-hour drive, and a small fee I couldn't afford to pay every day. Another is an hour away. There are some indoor ranges, and I can shoot at a foam target safely in one stretch of my backyard. I feel for you. I too want more than a foam target in my yard for the kind of practice I need, and I don't always have the time to go to one of the ranges. Here are two options.
I shoot at a stick or old dog toys in a nearby public field. I just hammer a pole into the dirt and let arrows go at it or drop a dog toy on the ground. There is a shallow hill behind the stick when I shoot flat, or I stand atop the rise and shoot down at the stick. It's helped me a-lot and it's a 5-minute walk. The neighbors have long since adjusted to my eccentricities.
I have a friend that shoots into his garage from the street. I've joined him a couple of times. He just hangs an old flannel sheet up to catch any arrows that miss his target. Sometimes the target is a whiffle ball or a tennis ball hanging from a string. It's amazing how well the fabric will catch the arrows without tearing. It has to hang loose, not be stretched tight. It still makes me nervous though. I'm paranoid that someone will botch a shot and an arrow will go into a yard or a window.
If you could find a safe place to put up a fabric backdrop in your yard that might help you get some extra practice without running too far away. It's not the same as the woods, though.
