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Madrid and Bologna are extremely walkable. I lived in both. In Bologna, I never once took a bus and only hailed a cab a few times. Besides that, I walked absolutely everywhere. Venice is walkable, but not pedestrian-friendly IMO. The bridges are spread out and you have to know exactly which streets have bridges. The streets follow no grid or pattern whatsoever, so without a map, getting lost is easy.
Madrid, for being a city of several million people, is very compact. There are a few districts in the city with over 70k/sq mi and one that I know of with over 80k/sq mi. It also has one of the best subway systems in the entire world, but is much smaller than its competing cities.
All cities have areas where you're looking over your shoulder... just depends which neighbourhood you plan on walking in surely.Venice might be "walkable" but if you've seen the movie "Don't Look Now" lol
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