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Subfolders for package-less module imports

Is there some sane way to allow Python to import from subfolders in projects that don't have a package?

I have many Python programs that I implemented as Python files inside a directory, without a `setup.py` file or other packaging boilerplate. I don't `pip install` these. Simply doing `cd` into the directory, and running files with `python some_script.py` is much more convenient.

The problem is when the program grows and I need modularize it. Python files can import other files in the same directory, but not in subdirectories. Alas, subdirectories are sometimes very useful.

How do you get Python files to import files from other directories? Is creating a package unavoidable in this case?