> It has grown and developed over hundreds of years.
... and 95% of that time there were no cars parked in the street
> pedestrians can enjoy an idle stroll on green meadows ...
Pedestrians like walking on paved streets as well.
Please don't get me wrong, I'm not saying that cars should be banned.
Cars are super useful! Cars are useful when you need to pick someone up who is ill, if you need to transport heavy stuff, when the city workers need to collect trash, etc. In all these scenarios it would be nice if the streets weren't crowded with parked cars.
So my suggestion is to remove street parking, turn the streets into shared zones where you can stop your car anywhere for 15 minutes (enough time for picking people up and dropping them off, or for delivering stuff, or for transporting heavy stuff), and where pedestrians, bikes, and cars can travel at reasonable speeds to get wherever they need.
It would actually be nicer for most drivers -- if you park long term, you drive into a garage, if it's just a quick stop, you stop right in front of the house that you need to get to.