Earlier quoted context omitted.
I don’t think you received great answers besides New York. I myself am trying to move from SF to New York. The reality is that in the US New York is the only city that seems livable if you are not a car. Chicago is the only one I can think of that’s dense and has life as a pedestrian, but the winter there is intense. It’s too bad because real estate is cheap there.
You definitely don't need (or want) a car in Boston. Boston is extremely pedestrian friendly and correspondingly hostile to cars. 95% of the people who complain about getting around here are commuters from outside the city.
My main complaint with Boston is that even if you’re happy with just the walkable city center, it’s still tough commuting if you can’t walk/bike and you aren’t going to/from downtown Boston.
For example if someone in Somerville takes a job in Boston Landing they’re looking at a multiple seat commute over an hour most likely, to effectively travel maybe 5-10 miles. Driving still ends up winning.