Since you can reach the city very easily by public transport (and is very easy to traverse on foot or by bike) it is quite delightful to be in.
Up until the 1970s there were plans to add a freeway that would cut right through the city. Some of that infrastructure did get built (visible in the photos that now show a canal again) but thankfully they didn't demolish too many historic buildings along the way...
If you are interested in the ways that The Netherlands tries to keep its cities comfortable and reduce car-centricness (car-centricity?) I can recommend YouTube channel "Not Just Bikes".