I should have made clear in my earlier post that I was referring to condo townhouses, as compared to condo apartments. I think that was the intent of the original question.
Townhouses can be either condominium or freehold. These terms describe forms of ownership, not the physical structure. In a freehold situation, of course, you would own your unit outright, it would be accessed from a public street, and there would be no condo common elements (internal roadways, playground area, etc.), and therefore no condo fees to maintain common elements.