Which American cities or European cities are closest to NYC(Densely packed, walk-everywhere..etc)?

Hey guys,

Which American cities or European cities are closest to NYC(Densely packed, walk-everywhere..etc)? I really enjoyed living in NYC.

I felt you go to a book store or meet new people. Then go to the public pool and later walk around the park.

The only issue was the extremely high rent and the minimum space you can get.

But I'm curious if there are other alternatives.