In which country and city have you been living as a family with children?
I was a child to a single mother of two in Berlin without a car.
I asked because the ability to live without a car depends on where you live. In Berlin, which is one of the biggest european cities, it's definitely doable.
How many? How do you know they are "just fine"? How do you know without a car wasn't "a huge pain" to your mother when you were 2 year old?