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Toronto is one example of where neighbourhoods were built that are not Manhattan- and Hong Kong-level densities, but are still not entirely car dependent. They were built semi-recently, and not some long-ago time period that is unrealistic to try to recreate.

They also have recognizable architecture that is not from the Middle Ages or Napoleonic age. You can explore some of these neighbourhoods (in Toronto and elsewhere) and realistically visualize similar houses being built today.

Of course Toronto suffered from the same automobile malaise as many other North American cities, first in the 'inner suburbs' (North York, Scarborough), and later in the "905".