It is indeed quite difficult to find exact equivalents for village, town, and city in Proto-Germanic, but Wufila's Bible is a truly incredible resource for this, as he had to translate many Greek terms into Gothic so that they would be understandable to the Goths.
In Wufila's Bible, there is a sort of hierarchy with Haims << Baurgs and Weihs << Baurg.
Haim- is used for villages and hamlets. To designate less densely populated rural communities.
A few examples:
Mark 6:56 : ...jah þisƕaduh þadei iddja in haimos aiþþau baurgs aiþþau in weihsa... / ...And whithersoever he entered, into villages, or cities, or country...
Mark 5:14 : ...gataihun in baurg jah in haimom. / ...they announced it in the city and in the countryside.
Mark 11:2 : ...gaggats in haim þo wiþrawairþon iggqis... / ...go your way into the village over against you...
Luke 9:52 : ...galiþun in haim Samareite... / ...entered into a village of the Samaritans...
Luke 19:30 : ...in þo wiþrawairþon haim.../ ...in the village across the way...
Luke 5:17 : ...þaiei wesun gaqumanai us allamma haimo Galeilaias... / ...which were come out of every village of Galilee...
Luke 17:12 : ...jah inngaggandin imma in suma haimo, gamotidedun imma taihun þrutsfillai mans... / ...And as he entered into a certain village, there met him ten men that were lepers...
Matthew 9:35 : jah bitauh Iesus baurgs allos jah haimos laisjands in gaqumþim ize... / And Jesus went about all the cities and villages, teaching in their synagogues...
Luke 8:1 : ...ei jah is wratoda and baurgs jah haimos merjands... / ...that he went throughout every city and village...
Luke 9:6 : ...and haimos wailamerjandans... / ...and went through the villages...
Luke 9:12 : ...ei galeiþandans in þos bisunjane haimos jah weihsa saljaina... / ...that they may go into the villages and country round about...
Mark 8:26 : ...ni in þata weihs gaggais, ni mannhun qiþais in þamma wehsa. / ... Don't even go into the village, nor tell anyone in the village.
Luke 8:34 : ...jah gataihun in baurg jah in weihsa. / ...and went and told it in the city and in the country.
The issue with Þaurp is that it is mentioned only a single time in a fragment of the Old Testament in Gothic (Codex Ambrosianus D) and it can only mean in this case 'farmland' or 'estate' because it is used for Nehemiah 5:16. It cannot refer to a village or a hamlet in this context, it is a field.