Walkable cities with well integrated public transit and mixed retail, restaurants/cafes and residential, so that you don't need a car to go and do your grocery shopping, get a coffee or even most regular purchases.

Many (most?) European cities are like this to a greater or lesser degree - you still get deliveries, but you can walk, or ride a bike, or catch a bus/tram/metro to most places you want to go. You don't eliminate cars, but driving a car isn't the default option because it's more convenient not to. But if you need a car for something, well, that's still an option.