You probably want to look for towns pushing their "historic" qualities, at least in the Northeast, and live in/near the historic area. I live in Carlisle, PA, which has the downtown (about 3x3 blocks) designated as a historic district. The high street is one lane each way, with a center turn lane and parallel parking. Lots of crosswalks. No strip malls/box stores until you get about a mile away from the square.
There's a fair amount of car traffic, because that high street (and the main cross street) are both designated highways, but there's always a lot of foot traffic. Wide sidewalks and no parking lots generally. The surrounding neighborhoods in most directions keep the walkable nature; mostly rowhomes (some converted to student apartments), a university, very few street-facing garages or sidewalk-crossing driveways.
There's a fair amount of car traffic, because that high street (and the main cross street) are both designated highways, but there's always a lot of foot traffic. Wide sidewalks and no parking lots generally. The surrounding neighborhoods in most directions keep the walkable nature; mostly rowhomes (some converted to student apartments), a university, very few street-facing garages or sidewalk-crossing driveways.