Demetrios1453
Hero
Thousands of years old? Waterdeep as a human settlement only goes back to 882 DR, and didn't really become more than a warlord's wooden-walled hold until 936 DR, when it began to be known by its current name (and even then it was a century or so before it became a real city). Baldur's Gate is similarly aged; the first dated reference we have to it is 931 DR (although its founding story is common knowledge in the Realms, the actual events are undated, but probably not to much earlier than this.). The current year in the setting is c.1492 DR. The Sword Coast has been overrun by orc and human hordes dozens of times over the centuries, so there really aren't any really truly ancient surviving settlements (outside your typical elf and dwarf hidden settlements). If you want cities that have lasted thousands of years, go south to the Lands of Intrigue or east to the Sea of Fallen Stars...There are a few things to remember too about the whole static defenses thing. Those static, walled cities, such as in the Sword Coast are old. As in really old. But, even drop a zero and make them a few centuries old instead of a few thousand and it really doesn't matter. When you have that much time, and you have permanent magic, it gets layered on greater and greater.
(And, even though I answered similarly up thread, this is why they have walls. When history shows that all previous attempts at civilization in the area have been utterly wiped out by rampaging hordes, you kind of want walls up there to protect you from them. And they have indeed helped drive off invading hordes in the past few centuries).