Edit: Actually it was Seattle, you can still visit its old ground level: https://en.wikipedia.org/wiki/Seattle_Underground
A US city often overlooked for some intricate people explorable underground spaces is Cincinnati: https://www.visitcincy.com/blog/post/unmistakably-cincinnati...
Some of Cincinnati's underground exists from plans to build subway trains that never completed. I think that makes Cincinnati's particularly sad being that it constitutes a perpetually unfinished public works/public transportation project.
Relatedly to that, Atlanta also has a tiny underground leftover from passenger train lines that ended passenger travel decades ago (and so was turned into a mall, because America): https://en.wikipedia.org/wiki/Underground_Atlanta
But that doesn’t work if you need to support a skyscraper (not if you want it to stay upright), or dig a metro line, so new developments are now excavating the old rubble.