It has higher density than SF, Yet is provides lots of public space and it is not car hostile either.
Not everything has to look like either Manhattan, or Surburbian Sprawl like most other cities. Boston is unique in that area as well, especially around Brookline, Allston, South End, and Cambridge/Sommerville areas as they were built pre-car era.
It think Brooklyn and Boston (especially Cambridge) are the most 'human' scale it gets in the States, and they are fine places to live.
SF is not there yet. The density (is pretty low if you go off downtown) and hills make it a bit hard to create the european feel.