Consider groceries. I can't get two weeks of groceries for two people without a car. Wine bottles get heavy, and stacking bags on my arms risks crushing my eggs. I imagine it's even more complicated for those with larger families.
It's also generally cheaper to pick up furniture with Zipcar than it is to have furniture delivered by retailers.
I know there are some grocery delivery services cropping up, like Instacart, but they're concentrated in very urban areas. I remember using a grocery delivery service in the early 2000s, and it was a disaster: eggs were broken, liquids were spilled, boxes were crushed, etc. We need to see a lot of improvement in this space.
It's hard to describe how inconvenient driving life is after living in a walkable city (and in New York, we lived in Westchester, in the burbs 20 miles from Manhattan!). Weekends are filled with strapping the baby into a car seat and driving to the mall to get basic essentials. Forget an ingredient you need for dinner? No running down to the grocery store a block over--30 minutes in the car for you!
Palo Alto taught me that cycling was a viable mode of transportation five years ago, and that knowledge has added lots of happiness to my life since.
I think one of the problems with cycling is that people don't have good bikes, and don't know how to maintain them, and are worried about longer (more than 10 miles) distances.
In this context when I say "good bike" I just mean "in good working order" and "sensibly adjusted to size of rider", and "has baskets or panniers". Something like that is cheap and really easy to keep going. And once someone has actually got that bike and they start using it regularly for shorter distances they build up the distances they're comfortable with.
Having said all that, it's pretty hair-raising cycling on roads where traffic travels fast if that traffic isn't used to cycles and if there's not much room for passing.
Throw in the safety wins and you have a recipe for massively improved urban spaces.