It's frustrating because so many of the older city and town centers actually have decent walkability, even if growth made things a little more complicated. It's mostly the later development surrounding the cities where the only thought during planning was how the cars get from point A to point B and then park, and now the barriers to fix that situation are enormous. Some of them will update their ordinances to require sidewalk construction during new development, but it's not all that helpful when you end up with sidewalk stubs connected to nothing. It also doesn't fix the existing arrangement of buildings and drives that makes everything so hostile to pedestrians.