In Europe (Holland in particular), people ride single gear city bikes (or internally geared hubs) for decades without replacing chains or cogs. When you only have one chainring and one cog, they wear along with the chain, and it takes a very very long time to encounter problems.
It's when you have the sprocket cluster with multiple cogs that are not all wearing equally, that you get problems. Or often the problem on geared bikes doesn't appear until you replace your worn chain and the new chain no longer meshes well with the cogs worn to match the old chain.
I ride my single speed (not fixed) every day. It’s my most beloved possession.
Typically a safety bike will get through 3-5 chains before needing to replace the rear cog, and many more before replacing the chainring(s). But Pinion gearboxes in the bottom bracket often run small chainrings that are similar in size to the rear cog, and I suspect they need to replace both rather than just the rear one.
I'm not saying you should do this. And Rohloff strongly suggest you don't do this I'm just saying that you can do this.
Romans might have been able to do shaft-drive. Or Penny-farthings (direct pedal-wheel drive).
Watch a kid on a balance bike and tell me how it's not practical, lol. A 4 year old can bike around a whole park in seconds.