For this, we would suggest you walk into the nearest service center of Lamborghini as they will be the better person to assist you with the required information. You can click on the following link to see the details of the nearest service center and selecting your city accordingly - service center.
Yes, Lamborghini Urus can be driven at city speed easily with the help of dedicated driving mode. It gets multiple modes i.e. Sabbia (sand), Neve (snow), Corsa (race), Strada (street), Sport and Terra (land) on the lever named Anima (soul).