Feels like NYC is the only place, and it's great, just expensive to live in.
There's actually a lot of walkable areas of many American cities or alternatively smaller rural towns. Generally, the older the city the easier these neighborhoods are to find. even LA has walkable neighborhoods (even though you'll still need a car to get around in general). But yes... expensive.
I hope the rising popularity of e-bikes makes some lower density cities more navigable without a car. Pretty much all "stroads" should be converted to 2 car lanes and a turning lane in the middle, which would leave room for protected bike lanes.