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Really? SF is one of the best, IMO. You can actually take long walks, it actually has a subway (plus busses, trams), it has sidewalks almost everywhere..... sure, less parks than one would like/ a bit too much concrete, lots of homeless people, etc. but hey, it's a big USA city, what did you expect? Compare it to e.g. the nearby San Jose - SF is so much better that it's not even funny. What US city would you consider…
You can walk in SF, I also did it, but the difference is that you don't really see much of the city if you do, compared to Berlin, London, or Tokyo. In those cities you can go from pretty much anywhere in the city to anywhere in less than an hour with public transport and on foot. Less than half an hour if you restrict yourself to the touristy center area. That is just not possible in SF.
What are you talking about? The first time I visited SF I just stumbled upon Haight-Ashbury and Japantown by walking around.