If each cul-de-sac just had a walking path cut out of it, I think you'd have the ideal. That's what it's like in small-town Holland. Cul-de-sacs do have other benefits like a quiet street and keeping your little kids "corralled".
Why do they have to? I don't see why you couldn't build a more natural walking path away from the street traffic that would be less objectionable to homeowners since there wouldn't be the automotive noise and danger to children.