Cities are that too dense (Manhattan) don't have the space to do "stoop coffee" or equivalent. Everybody is in a tall apartment.
The cookie-cutter suburb is too spread out and too car-dependent. You could have "stoop coffee" but your neighbors are in their cars, so don't stop to talk.
An older bedroom community, or smaller city with single family dwellings (row homes or tightly-packed detached) hits the balance - enough people on foot, enough space to spread out and not block the sidewalk.
I live in Chicago, in a denser part, and we have all the things you mention.
I think this idea that a “city” is like Manhattan just doesn’t hold up in the US. Manhattan is approaching unique here and there are places in Manhattan that could be described by your ideal.
Cities are that too dense (Manhattan) don't have the space to do "stoop coffee" or equivalent. Everybody is in a tall apartment.
The cookie-cutter suburb is too spread out and too car-dependent. You could have "stoop coffee" but your neighbors are in their cars, so don't stop to talk.
An older bedroom community, or smaller city with single family dwellings (row homes or tightly-packed detached) hits the balance - enough people on foot, enough space to spread out and not block the sidewalk.