I don't know where in Texas you were, but I was in Houston, Dallas and San Antonio working for a few years.
There is no way to get from one place to another without a car, even if Point A is very near Point B.
After my first visit, I always rented a car. Walking is just out of the question, even if the distance is a few blocks.
But the same is true in other States in the US, for example, downtown Miami is walkable, every other place in Florida, requires a car.
Where I live in Mexico, within six blocks around I have two shopping malls, several doctors' offices, veterinarians, two bars (three, if you count the billiard's place), two phamacies, in short, all the services. I walk most of the time and take my car only if I will be carrying a heavy load.