This study aims to clarify the advantages and challenges of “remote machi-aruki (town tours and strolls)” conducted by wheelchair users through remotely operated robots. Within the framework of inclusive research, this study involved an electronic wheelchair user experiencing remote machi-aruki via a telepresence robot, with researchers facilitating the setup and support of the walking tour environment. The machi-aruki was conducted in an area affected by an earthquake and tsunami, assuming that navigating the location would be difficult for a wheelchair user. During this experience, the wheelchair user was able to observe and assess the local situation remotely while also interacting with others using voice and gestures via a telepresence robot. Our findings indicate that the remote robot operator, a wheelchair user, could explore typically inaccessible areas, such as staircases without handrails leading to tsunami evacuation zones, in real-time. Furthermore, the physical presence of the robot facilitated communication between local participants and the remote operator, enhancing the operator’s presence more than conventional video calls. Meanwhile, local participants perceived the remote operator as a robotic figure, suggesting that the degree of shared awareness between the two locations differed.