If you require large amounts of parking everywhere and commensurately large roads, everything ends up so spread out that car based transportation seems like a necessity. It’s a self perpetuating cycle. If you don’t require so much land to be dedicated to cars you can build things denser and lower or even remove the need for personal cars.
I think one car per household is fine for townhomes assuming most are 2-3 bedrooms. A lot of families only need one car.