Various sources point to a minimum level of population density needed for walkability. A source I have lost said 10-20 dwelling units (du) per acre. This Australian model derived 25 du/hectare (2500 du/km2), which is the same as 10 du/acre, as a minimum, though 35 was notably better. At an assumption (as the paper used) of 2.6 people per du, 25 du/hectare is 6500 people/km2, 35 is 9100. My own personal experience, of places I have lived and looked up the densities of, is that nice walkability starts around 9000 people/m2, while 6000 tends to be doable but a bit anemic.
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And in reality, there is no reason for housing to be so uniform. Left alone, people would naturally build taller and live denser near high value locations like train stations, so walkability can be supported by a mix of SFH and multifamily/rental housing. But it's good to know that you can support it with pure SFH too... as long as you allow small lots.
Though it also means that bigger lots that don't support bigger households (via large household or various rental units) are kind of free-riding on higher density elsewhere, if the inhabitants enjoy walkability.