What if I have a friend on the other side of town and we are meeting up at a restaurant on their side of town?

Accept that it is a pointless luxury and make new friends who are within a more reasonable distance? If the same friend was on the other side of the world, are you are hopping on jets to meet up at a restaurant? We do have the technology. But having the technology doesn't mean its use is warranted.

Or maybe I usually walk the 20 minutes but I injured my leg and its only 5 minutes of walking if I take the bus.

20 minutes by foot is a huge distance. Why would you need to walk that far? If you want to walk that far for enjoyment, when you are able, sure, but in terms of everyday life? That's not a well designed city.

Even with the best urban planning, some cities will just be too big to get everywhere in the city just by walking. Some people might be fine staying in their neighborhood but others will want to see other people, try different restaurants, shop different places.

That's fine, but now you're living the rural lifestyle. Why bother living in a city at all if you want to become a rural dweller?

More importantly, why hold back progress for people who actually want to live in cities just because you have some fascination with rural life? That ever-present dream of living on farm like our ancestors is exactly why our cities are so poorly designed. Unless you are an actual farmer providing a valuable service providing food to the cities, perhaps it is time to let that dream go?