I mean I do live in the city, 10 minutes walking doesn't actually cover that much distance. It gets me to the end of my street basically. I'm genuinely struggling to think of any US city where you wouldn't have to move any time you changed jobs to maintain a short walking commute.
Yeah of course, it depends on your city. But you're not going to have a two hour commute within city limits.
My city is conveniently on a quasi-island, so the sprawl is naturally limited -- if you get a place somewhere near the center it's a 20-minute walk to all of the "ends".