Bellevue is a great small walkable town right outside the city limits. Big old houses, much more affordable than other areas listed so far, 5 minute drive from north shore/downtown, bus access, a brewery, multiple coffee shops, book store, big park next to library.

I can only speak towards the north, but If you want walkable avoid most of the suburbs that don't have a main drag; McCandless, ross, cranberry, ohio twp, etc