A good public transport system is not difficult for families and even easier. Berlin has a pretty good public transport. We had a car when we first moved here (we're a family) but we never had the need to use it other than 1-2 occasions in a year because public transport + biking is easier, faster and more comfortable.

At the end we got rid of our car and not planning to buy another one. For those occasions that happens 1-2 times a year, we just use a car sharing app. It's also a lot cheaper than maintaining a car.