Absolutely. One thing that I've noticed personally (and that studies confirm) is that the distance I am willing to walk depends a great deal on what walking is like: whether it's interesting, safe, etc. Parking lots are thus a double whammy, because the both push actual destinations apart, and reduce the distance that people are willing to walk. And if nobody's walking anywhere anyway, why bother building tall buildings in expensive city centers instead of cheaper ones in suburban office parks?

Since you mention New Urbanism, have you heard of the Old Urbanist movement? New Urbanism is an attempt to return to 19th century American patterns, while the Old Urbanists advocate going back to an even older pattern of low-rise and mid-rise buildings on really narrow streets, which is a pattern that has worked well for millenia, and indeed still works well in places like Japan. The narrower streets mean there can be more of them for the same usage of land area, which can mean a much better connected network at a pedestrian scale.