What I had in mind was places like Dubrovnik as an extreme example, or York as a less extreme - walled cities in which all the old residential/commercial activity happened. Necessarily dense and walkable. Smaller versions can be seen in "market towns" e.g. Cambridge: central square with occasional street market, surrounded by 2-4 storey buildings with shops on the ground floor and apartments above. Some of which have been converted into offices.

There's a big split between European cities which decided to rebuild exactly as it was after they were bombed flat (or the few that largely escaped), versus those which decided to modernise and become car-oriented. Cambridge vs. Coventry.