There are many towns like this! As a starting point, I think that all major towns are. Uptown Charlotte is very walkable and there are smaller suburban towns like Belmont.
You may have to do more searching to find townhomes for rent. What is your budget? Do you have a preference about town size? Would you like an urban or more suburban area? Are you looking for a quiet, secluded town or a busy city?
Are you open to mixed development areas within a city/town? For example:
Ayrsley in Charlotte
Baxter Village in Fort Mill, SC (just south of Charlotte)
I'm sure there are others in different parts of the state.