Comparing Horace with Juvenal, I perceive Horace' Satires much less over the top, which when he describes scenes, gives us moderns a pretty good first hand impression of life in the Rome of his times. A good example, I think, is Satire 1, V – Journey to Brundisium:
BkISatV:1-33 Off to meet Maecenas, going to Brindisi
BkISatV:34-70 Onward to supper at Cocceius’ villa
BkISatV:71-104 And so by stages to journey’s end
Of course, one has to chuckle quite a bit over Satire 2, VIII – A Dinner Party:
BkIISatVIII:1-19 Nasidienus’ dinner-party
BkIISatVIII:42-78 The trials of being a host
BkIISatVIII:79-95 The guests disperse!
Texts from A.S. Kline (Poetry in Translation)