The solution, as this article touches on, is light weight electric transport using the existing road structure. There's a strong indication of this future in the fact that last year the Dutch bought more electric bikes than normal bikes in total. And they paid twice as much for their electric bikes ($2000) than they did for their pedal bikes. Let that sink in: The Dutch are already starting to abandon their pedal bikes. This is the future of urban transport: lightweight electrics.
One underappreciated, but critical aspect of electrics is their lack of exhaust fumes. This will allow much more of city roads to be covered or even inside. With electrics you could park inside almost everywhere.
Electrics will soon start to invade the "slow lane" of cities with bikes and mopeds. Even a cheap electric bike already feels much safer in urban car traffic than a pedal bike because it has super fast acceleration from a dead stop and therefore can ride in regular traffic without being an impediment or needing its own lane.
If you want to lead this revolution forget about city council; buy yourself an electric bike and ride it in regular traffic with a hi-viz vest. The more people that do this the sooner the transition will happen. The current urban roads are the 'bike' lanes of tomorrow.
(One thing city councils could usefully do right away is to immediately ban any fossil fuel motors under 125 cc from their roads.)