Accurate, ubiquitous indoor localization has long been a central goal in wireless systems, yet most proposed methods remain impractical for large-scale deployment. We present PeepLoc, a scalable Wi-Fi-based system that leverages existing infrastructure and unmodified mobile devices. PeepLoc operates in any indoor space with standards-compliant Wi-Fi APs and regular pedestrian traffic. It combines (a) extracting non-cooperative time-of-flight (ToF) from any AP, and (b) a crowdsourced bootstrapping approach using pedestrian dead reckoning (PDR) to localize APs as anchors. Implemented on commodity hardware, PeepLoc is evaluated across four buildings, achieving 3.41m mean and 3.06m median error, outperforming commercial indoor localization systems and approaching GPS-level accuracy outdoors.