For example, get rid of the gas tax. Toll all state and federally funded roads. Scale the toll according to the amount of wear and tear the vehicle causes for the road. Price something in to account for emissions. Make sure the tolls are high enough to pay for the road and its ongoing maintenance. Cameras capturing license plates at intersections can keep track of everything (tolled highways near me already work this way). Bonus points if you get municipalities on board and reduce property taxes being spent on transportation.
If you started doing stuff like this, I think people's choices will start to change. When it costs $5 to drive 30 minutes in to work every day, people are going to choose to live in big houses with big lots in suburbia and drive everywhere. When they have to pay the full cost of making that drive, their preferences may start to change.
Yes, a lot of stuff would have to change to get people to agree to this sort of thing and make it work. But the author is already talking about re-making cities, so we might as well do it in a way that maximizes freedom and consumer choice... right?