Japan manages it pretty well. The mass transit system of Tokyo is well known. But the city is also zoned such that walking or biking from an apartment/house/hotel to a restaurant, supermarket, or even a major park or museum is easy and fairly safe. The roads are clean and well-maintained, and traffic really isn't that bad. Street parking is rarely allowed, but small parking lots are numerous albeit expensive.
Biking and public transit moves most commuters off of the streets, leaving the roads to the owners of luxury cars and driving aficionados who don't mind paying the tax premium to subsidize their vehicular access. I pay $450/yr in road taxes, kei car drivers pay maybe $75, and someone with a big-displacement engine like a Lexus IS-F or a Mercedes AMG probably pays $800-$1000 every year. I'm totally ok with this system.
I spent 3 weeks in the New Jersey suburbs of Philadelphia and HATED how I couldn't walk to anything....but the roads are also of absolutely terrible quality (potholes everywhere) and are mostly straight and boring highway travel, so they aren't even fun to drive. Then I quarantined in Tokyo for 2 weeks and everything was a convenient 5-minute walk away. If I LIVED in Tokyo, I would still own my sports cars there, as I love the freedom of being able to travel longer distances, at any time, with privacy and storage capacity.
I'm in another region of Japan where the public transit is almost non-existent but the walking-friendly zoning helps to compensate. I don't NEED a car to get to the convenience store or the supermarket, but they definitely make life 100x easier, especially since the weather here is terrible more often than not.
So I'd say Japan is proof that walkability and driveability are not in "irresolvable conflict".