Two places:
1. When growing up (late 1950s/early 60s), we would visit our grandparents in Northern Newfoundland. You got there by coastal boat. There was no road linking all the villages and very little road in any of the villages themselves. Everyone did a lot of walking.
2. In the 1970s, i spent a year in Italy in Perugia, which is mentioned in Roody's list. The center of the town did have a small parking area for cars and there were some streets where it was possible to drive, but most of the Centro was available only to police cars. Most streets were too narrow or too steep for cars.The main piazza was a wonderful super-wide street where people who spent all evening walking from cafe to cafe, or just hanging out. Very civilized.