Where have you been that has both? From my reading, it seems like cities need to prioritize walkable / bikable OR cars, but I've never seen example of a city doing both well.
In Portland (where I live), I have a driveway and convenient street parking right outside my house, but I can also walk to many shops and restaurants, and have a pretty good busline nearby. I usually take the bus if I'm going downtown, so I don't have to worry about parking. But in my part of town, which is less dense, I can conveniently drive or bike. Parking can be a little annoying on this side of town, but it's usually okay.
That being said, Portland is clearly moving in a denser direction. Housing has gotten too expensive here, and the only way out of that is density. Our cycling infrastructure and public transit are decent, but need to get better IMO. All of this will probably negatively impact the car-friendliness, but I think that's the right move for Portland right now.
If they just built more of the commenters neighborhood, and my neighborhood, there would be more desirable land.
Portland is not running out of land...
https://www.euronews.com/2021/01/22/meet-the-bike-loving-fin...