If we go back to lower speeds then maybe it could be manageable in a same way.
But as it is actually used now for 3000 pound vehicles to zoom about in, it makes no sense for pedestrians to be intersecting and sharing the space at all. Just due to the physics of collisions between a person and a vehicle. I don't think slow vehicles is a good solution because we do need to get places.
I think an actual good (but very expensive) solution is for new cities to be designed differently in several ways. One of which is for roads to be only for small autonomous vehicles and entirely separate from pedestrian paths. To make that reasonably practical you need some other core assumptions to be changed. And also a totally new development probably.