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You can use "cross sections with lids" to model underground flow. Tributary flow can be brought in with junctions and/or lateral structures with culverts.
If your street flow is behaving like a channel, RAS could model that. However, if the street flow is shallow "sheet" flow, RAS can not handle that. If the street flow is two dimensional then RAS will not be able to do that either. However, a series of storage areas can sometimes be used instead.
I have seen RAS models that involve complex urban environments. For instance, RAS was used to model the New Orleans flood from hurricane Katrina. This involved street flooding and massive underground tunnels with storm drains and pumps.
However, these problems tend to be difficult and require an experienced user to keep the model stable and produce good results.
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