In fact, if you really stop zoning, there's a decent chance companies will ASK to operate transit for you, because those population densities and no free car competition can make it profitable. This happens in many cities!
Mixed use development happens if you let it happen. Banks and developers like money, and mixed use makes way more money, so they want to build it. Sometimes they fuck up and don't, and those land owners pay the price and retrofit. And that's fine. Again, just let them.
In high engagement Western societies, where people get involved in politics and urban planning, "design" universally leads to car subsidies and shitty outcomes. The market does a way better job.