Boston and New York are probably the closest to European cities with respect to transit that you will find in the States. Plenty of people live in those cities without cars. I lived in Boston for a long time (now in the Boston suburbs) and plenty of adults I know there haven’t even bothered getting their driver’s license.
The other Northeast Corridor cities are probably the next tier down. DC has decent transit if you make live and work near transit stops. Philadelphia can work, but SEPTA has been unreliable at best in my personal experience. I haven’t really spent much time in Baltimore to be able to say.
Outside of the Northeast Corridor, the only other option really would be the San Francisco bay area with its BART system. It has decent coverage and I have family that lives in the area and enjoys it. However, I don’t have much firsthand experience with it.
This is mine too. I use the hell out of it and YouTube music that comes with it. If we look at $/hr, then this is a no-brainer for me.