Does that make sense to describe how our travel was rushed therefore couldn't fully enjoy what the cities have to offer?

  • Not really. We merely got a glimpse of all the cities had to offer. – Jim Nov 13 at 5:28
  • Right. Instead of "sightsee", we now have "sight glimpse"... – Cascabel Nov 13 at 16:42

It is an idiomatic use that is reliably understood in the manner you suggest: that you only had time to see or feel a few aspects of the cities.

Skim = to read or look at something quickly to understand the main points, without studying it in detail:

Several dictionaries of idiom show “skim the surface” as something like:

skim the surface (of something)

To do, engage with, or understand something to only a minimal or superficial degree.

Free dictionary

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