The only old American city that I think stands a chance is Philadelphia, which has a great number of single-lane one-way streets, which allow emergency services to get to where they need quickly enough while providing a decent amount of walkability. But then again, the original plan for Philadelphia is a hilarious testament to the utter failures of centralized city planning.
" Penn planned a city on the Delaware River to serve as a port and place for government. Hoping that Philadelphia would become more like an English rural town instead of a city, Penn laid out roads on a grid plan to keep houses and businesses spread far apart, with areas for gardens and orchards. The city's inhabitants did not follow Penn's plans, as they crowded by the Delaware River, the port, and subdivided and resold their lots" -https://en.m.wikipedia.org/wiki/Philadelphia