I think Bacerlona hits a good compromise. The city has the concept of a superblock, which is a few city blocks grouped into one calm zone. Most car traffic stays on the streets around the outside, the perimeter of the superblock. Inside, driving is restricted and only at low speeds where allowed, so people and bikes get the space. So deliveries and residents can still but only slowly.
That’s far from the only example - many cities in Asia follow a similar model.