I've had my disagreements with this community*, but I absolutely agree that cars do not scale in urban areas. We need good enough public transit to make cars unnecessary, and then replace the previous car infrastructure with something better like cycling or housing or parks or small business.
Ideally, I think we should have
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interstates that go through or around cities
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Extensive parking garages on the outskirts of cities
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Fast, reliable, safe public transit within cities
There will always be a need for vehicles in rural areas, and those vehicles will need to come to the city sometimes, and we need ways to get those people to where they need to go. But people should not need to drive in the city itself.
*Most of my disagreements are with the focus on cycling. Cycling should be a secondary, maybe tertiary goal. Public transit is orders of magnitude more important.