Amsterdam is a great example [0] and well-known for a lot of tourists, with the city center being the tourism hub, the zones around it for living, west/northwest for industry/shopping, south for highrise offices and football stadiums, etc. Most tourists won't go that far out though.
[0] https://www.amsterdamsights.com/about/neighborhoods.html
Even European subburbs are generally better, smaller roads, more mixed use, more trees, more dynamics, more commercial and building times mixed in. The extreme separation between building types that became the standard in US zoning-codes simple never happened to the same extent in Europe.
Also, those "suburban" areas in Amsterdam aren't suburban: they are still built with a bicycle-, pedestrian-, and transit-first mindset. Those office buildings in Zuid are built right next to one of the busiest railway stations in the country, and the highly-paid lawyers will arrive at the office by bike from their nearby homes.
If you want Amsterdam's suburbs, you'll have to go to Almere: it was literally built as a commuter city for Amsterdam. And even there you'll have trouble finding areas which don't meet the definition of a 15-minute city.
The nicest places for humans to exist in have a mixed-use basis. Yes some areas are purely industrial and some areas are dominated by retail or offices, that's fine. But fully segregated residential zones are depressing and nonsensical.
The suburbs purely for residential space where you have to go somewhere else for activities do exist, but usually over time they grow their own infrastructure for shopping and hanging out without needing to go far.
I'd say both. We do have the history on show both because we have more of it, and sometimes the stuff from eras when the US as we think of it¹ existed tends to be better preserved despite the effects of WWI and WWII. But we also have it easy to get to, often safely on foot, in our cities².
> This is because they know how to scale cities to human centric proportions.
Not wishing to put us down, but I'd say a fair chunk of that is historical accident. A lot of cities started out as smaller settlements that grew and merged, meaning there is a spread of housing, shows, workplaces, etc around the whole city because it used to be in each individual part before they merged over time. America's cities on average started at, or at least very quickly gained, a larger scale, and grew from the inside out rather than by several insides growing until their outsides merged.
Some European cities made the mistake of doing away with some of that and converting to a state closer to that of US cities, and many current efforts are more about returning to their roots than being newly person friendly.
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[1] essentially from the point the founding fathers went to find somewhere they could be prescriptivist about people's, lives because they weren't getting away with that as they wanted to over here, and perhaps a little before that
[2] though there is a fair amount of it that isn't as easy to get to unless you drive
The Founding Fathers also did a lot of controlling of some people’s lives (in that they enslaved a lot of people), but they didn’t have to go anywhere to do that.
Anyway, if you want to walk around some history in the US, you can do that in Boston. As you mentioned, a huge factor in the walkability of a city is just having the right population density before cars were invented. The oldest European areas in the mainland US (Spanish areas, in Florida) aren’t super walkable as far as I know.
But, as a fun notice, Stuttgart could be somewhat of a "Detroit of Europe", being the home of Porsche and Mercedes-Benz, so there's added incentive, and pride, to be a car city.
[1] https://maps.app.goo.gl/aQCEYkc3oWsKpD9F7
[2] https://www.travelstuttgart.com/transport-in-stuttgart.html