A wave can propagate in any medium that is:
a) elastic
b) less than critically damped
Neither homogeneity nor isotropy are necessary.
Any elastic system will return to it's original state when deformed, the question is just whether the deformation can propagate, and this is down to how quickly the energy of the deformation is dissipated. If the damping is high enough, this is critical damping, the material will return to its original state with a $e^{-\alpha t}$ dependance on time and no wave will propagate.
For example, in water common experience tells a gravity wave (i.e. a wave) propagates just fine, and a longitudinal wave (i.e. sound) propagates just fine. However shear waves will not propagate because they are too rapidly damped.