The solution is known and has been implemented before the Robert Moses era (suburbs residence with down town offices): it's triplexes, building with 1 or 2 large unit (families)+ 2-4 smaller units (configurations are highly flexible and can quickly adapt to demographic changes).
I have the chance to live in a neighborhood that existed before the car revolution. It's simple, you need narrow 3 story buildings( with a small backyard and almost no frontyard nor parking lots (parking on the street only) and a commercial street every 4-5 street.
I'm in Montreal which is in North America and thus public transport is always underfunded and transportation budget is almost completely dedicated to single passengers trips living in suburbs (rant: old neighborhood have been getting almost no new infrastructure for decades because it just works and they took away trams while they spend billions trying to fix highway congestion). Even in that climate most residents in Montreal's pre 50s neighborhoods don't own cars (I have one child and I don't own one) and almost no one owns two. It's not because they can't afford it, these neighborhood are considered prime locations and it would be cheaper for me to move in the suburbs and have one car (I was born in the suburbs and I wouldn't force that on my kid). Most use the subway/bus or bike to downtown offices, many work in the neighborhood and walk or bike to work. For shopping I have a commercial street with everything I need (daycare, large grocery store, butcher, bakeries, fishmonger, pharmacies, libraries, hardware store, general household, clothing boutiques, toy store, kid candy store, adult candy store...) offered by many small independently own shops (much better for the local economy than one single Walmart) all in walkable distance (this not a new trend, my commercial street have been around for at least 50 years). For leisure, I have access to 5 parks, 2 public libraries, public pool, in summer time they close the street to car traffic and we have bouncy houses and wrestling matches in front of our fruit and vegetables store... For anything else I just use the subway to downtown.
I'll rent a car 2-4 time a year for vacations and long trips and I'll use our local car sharing service (Communauto) once every two weeks for stuff like furniture, landscaping materials ...
I have been bragging a lot but, tldr, human friendly urban living is a solved problemt: it's triplexes.
As a Dupreeh fan it's hard to admit but the astralis dynasty players are past their prime or are getting simply bested by players from the new more potent generations ...
BTW this community is abandon. Try: Counter [email protected] it's more active