When cities are designed around cars, you must have a car to participate in society. As a result, it's a significant tax on the poor. The recent oil price spike has caused many people to worry about being able to afford to work.
But what about the people who actually can't drive? Epilepsy, vision, etc. There are a ton of reasons. But like what do these people do? There are so few places you can live without a car in the US compared to any other country on Earth.
If you’re too poor to own a car with a $300/mo payment you certainly aren’t going to pay $1800 for a studio in the city.
The only people who “hate the poor” more than those who suggest people drive are the ones who suggest people move into dense cities.