As someone who has lived in the Midwest for the past ten years I think you’ll be hard pressed to find this. In Lincoln NE, for example, all new housing for at least the past 30 years has been in car-dependent suburban developments which has resulted in all but the Haymarket district of downtown being car dependent.

That district has been mostly livable without a car for the past couple years after a grocery store was built there. I say “mostly” because as soon as you want to do anything outside of The dozen or so blocks of the Haymarket a car quickly becomes required again.

This is a common theme of walkable areas in the US and Canada. They do still exist but because of the development patterns of the past 30+ years they are small islands in an ocean of cars. Their scarcity also drives up prices and makes them less affordable than surrounding areas.

I’m in Milwaukee, WI. Houses in my neighborhood are a bit expensive - starting around $300k for a SFH - but you can live a very full life without a car. For myself: we have a car for visiting people outside the city and going to the lumberyard, but groceries, schools, parks, hospital, etc are all in walking distance and downtown is about 10 minutes away on the bus

Any college town, to a fair approximation.

Also Carmel, IN for some reason.

Chicago