I can walk to bus stop/local, get to Brooklyn or NYC. I can walk to church, two shopping centers with almost everything you need. They are not huge compared to some - but you have grocery stores, cleaners, some known clothing stores, banks. We have various medical offices, dental, testing sites. An extra 10 minutes, I can walk to the train station.
I have always said if I could not drive for whatever reason or had no license, there are many errands/things that can be accomplished. We do have Uber.
I say "I" now and not "we" - since my DH recently passed (I am devastated/trying to peek on-line a bit for distraction) - I might consider a condo in the near future (15 minutes closer to my sons/my Daughter-in-law's parents bought one and live there now). The only negative thing there is that I don't think there is anything within walking distance (and I would miss some of my neighbors).