I don't think King's Quest had any "city street" scenes. I don't think Space Quest did either, but I could be wrong.
But the idea that this might be a Sierra adventure game is a good one. I am guessing that either Police Quest, Codename: Iceman, or Manhunter: New York might be one of them? But I am not sure. A full list of Sierra adventures (with box art, but not too much in the way of screenshots) can be found here:
http://www.sierragamers.com/Sierra-Games
There were other companies that did adventure games. But Sierra was the biggest in that era.