Do you think that cities used to be less "car dependent"? What point in American history are you imagining where people weren't taking cars around?
You could look back to maybe the early 20th century, but what that meant is that you had to live right next to the factory where you worked, which was obviously terrible. Cars meant that you could have separate areas for living and working, and this was considered a good thing.
edit: people keep making the same point, so I'll reply to all of you at once: do you think you could find a single person on any public transportation anywhere in America who wouldn't take a free, brand new Tesla model X with free charging and a free place to park it over riding the bus? Or if they had that brand new Tesla: would any of them trade it straight across for a free lifetime bus pass? Of course not. Having your own car is objectively better in every meaningful way.
The reason people take public transportation is because they can't afford a car, and yes owning a house with a garage is part of affording the car.