Yes, I agree that 4-5 days is a bare minimum to do justice to any major city and many smaller centres that are particularly intriguing. Especially if you want to see the major sights, there is always the possibility of a line-up (for instance, we didn't even get into the Parliament or the Opera in Budapest, because either the lines were too long or the tours were scheduled at times we couldn't go - and we spent 6 days there!)
Also, I think it's a shame to race through a museum or gallery that you're really enjoying because you don't have enough time to see it thoroughly. In somewhere like London or Paris, you could spend several days just in the British Museum or the Louvre, let alone looking at all the other amazing stuff out there. Also, you'll want to have time to laze away an afternoon at a sidewalk cafe or in a park - which will give you much more of a sense of place than all the museums, galleries and famous architecture in town.
But I'm also an advocate of "if you like it, stay longer, if you don't like it, leave". We planned one day in an alpine village, and three in Salzburg - ended up liking the village so much, we stayed three days and our one day in Salzburg was more than enough for us - the weather was awful and the crowds worse.
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