Much of this depends on the particular city's rules and when development happened. Off-street parking requirements have become far more common since the 1950s. Places that developed prior to this (and didn't dramatically re-develop) may not have this as much, since the rules would only apply to new development. I think a fair bit of the US northeast may fall under that category.

And, for instance, San Francisco has no required off-street parking, and has limits to off-street parking instead: https://codelibrary.amlegal.com/codes/san_francisco/latest/s...

However, plenty of other places in the US are different. The rest of the Bay Area is quite sprawled, as are the areas of the Midwest I've spent time in.