To create a pedestrian first world I think we need to legitimately understand what advantages a car has. A car is a true source of empowerment.
Sure, I can ride a bike, but I could never ride a bike 300 miles for a weekend trip to any arbitrary destination. I can take a bus but not at any moment, and not the middle of the night. I can take public transit, but not to the place I need to go.
A car is a portable personal space. I can eat lunch in my car, I can take a nap.
A car is a space protected from the elements - I'm not getting rained on. Protection from wind, snow, sun.
Its locked doors are a barrier between me and potential (and sometimes imagined) threats.
I don't need to list out for this community all the negative things associated with cars. I just list these pros to highlight it's a challenging task to displace cars. It's a list of benefits to replicate.