But if 80% of day-to-day trips are walked and 20% are horse-carriages that's much more efficient in terms of space than a world where 80% of trips are via car and 20% are walked.
That additional space manifests in more wider roads to reduce bottlenecks and more large parking lots to store cars at different destinations.
I've phrased this multiple different ways. The concept isn't complex: a car (or horse carriage!) is much bigger than a person walking so if we design a world that encourages more travel via car (or horse carriage!) that world will be less spatially efficient.
But, as I've pointed out repeatedly, in the past far more people walked to take trips than take a horse carriage.