Is there a formal measure or comprehensive view on that question?
I lived in Manhattan (NYC). Walked a mile at a time (or more) without thinking about it. To/from work, in cold, in rain, etc.
Now I'm in NYC 'burbs. The train is 1.1 miles from my house. I walk that distance on occasion but not often. My wife drives to/from train most days.
Town is also 1.1 miles from my house, near the train. My daughter is about to be 8. I'm not far off from letting her wander into town on her bike (or on foot), but it's anywhere from a 10/15-25 minute journey depending on how fast you walk/bike and how often you stop.
I also live in what feels like a dense suburb. Many houses close to each other. Example: https://maps.app.goo.gl/KBcvG5vnnh48hGwY8
So, I think there's a difference between nothing to do and it's "close" - whatever that means to you, and there's nothing to do and it requires a 30 min car ride.
Those latter suburbs aren't far from me, and I grew up next to one good example of a suburb w/large houses and nothing much else (Dover, Massachusetts)