Motivated by emerging urban applications in commercial, public sector, and humanitarian logistics, we revisit continuous $p$-hub location problems in which several facilities must be located in a continuous space such that the expected minimum Manhattan travel distance from a random service provider to a random customer through exactly one hub facility is minimized. In this paper, we begin by deriving closed-form results for a one-dimensional case and two-dimensional cases with up to two hubs. Subsequently, a simulation-based approximation method is proposed for more complex two-dimensional scenarios with more than two hubs. Moreover, an extended problem with multiple service providers is analyzed to reflect real-life service settings. Finally, we apply our model and approximation method using publicly available data as a case study to optimize the deployment of public-access automated external defibrillators in Virginia Beach.