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I'm talking about trees on sidewalks and streets, not about parks.

The city government tracks data on public realm trees, and has a nice map based visualization of it: https://www.london.gov.uk/programmes-and-strategies/environm... and if you zoom in you'll see that many of these are streetside trees.

Personally I have always felt that most Japanese cities are very devoid of urban greenery compared to UK towns and cities.

That map doesn't seem to include the trees in actual parks. Somewhere like Hampstead Heath or Richmond Park has actual woods.