The suburbs were an escape from city life. Now, millennials want them to become more like cities.

A NAR report found that homebuyers are willing to pay more to live in walkable neighborhoods. Tony Anderson/Getty Images

Joseph Hajjar and his wife had spent years living in big cities , where they enjoyed the fast-paced lifestyle and endless options for things to do. So when they decided to settle in the suburbs and raise their two young daughters, they had a few non-negotiables.

"We had a spreadsheet going, and the towns that checked a lot of boxes were the ones with walkability and a good restaurant scene," Hajjar, 40, told Business Insider. "We were also looking for a strong sense of community."

They ultimately chose Summit, New Jersey , a small commuter suburb about 22 miles from New York City. They paid $1.4 million for a roughly 3,500-square-foot home — far larger than their two-bedroom condo in Jersey City.…