Momentum transport at porous media boundaries is usually modeled with a two-domain approach, which requires the use of coupling boundary conditions. While this approach has received significant attention by the scientific community over the past fifty years, with a debate about the boundary conditions pertinence still lingering, a one-domain approach can also be considered. In this alternative, a single equation is used to model transport phenomena within the homogeneous portion of a porous medium and near the boundaries. Classically, a penalization procedure is used in which a Darcy-like term is added to the Navier-Stokes equations. Such equation is of archival more than practical value, due to its complexity and the difficulty to predict the spatial variations of the permeability. In this work, both limitations are surpassed by deriving a macroscale model that has a Darcy-like form and includes a closure scheme to predict the spatial changes of the permeability. The model is derived using a simplified volume-averaging method considering steady and single-phase flow under slip and inertial conditions. The accuracy of this formulation is tested by comparisons with pore-scale simulations at the boundary between two porous media, a porous medium and a wall, fractured media, and the classical fluid-porous medium system. In the latter case, the model is also validated by comparison with experimental data showing excellent agreement.