I’ve lived in walkable US cities. The main ingredients are mixed use, high density, effective public transportation, useable sidewalks, and zero surface level parking lots. Roads and underground parking is fine because they don’t lower density that much and density defines how much you can reach in a reasonable walk.
What I think people miss is public transportation is the least important part of the equation. Once people start walking everywhere you can increase the number of trips people take with public transportation, but you want people making short trips not simply long commutes.