Some cities have massive underground parking infrastructure which is best of both worlds.
People who want the luxury of driving can, they just have to pay the high parking prices, meanwhile the city is still walkable because we're taking advantage of vertical space.
It's the big flat parking lots and big box stores that make a city miserable to live in without a car
A car tax to fund public transit is such common sense, but I don't see it ever being popular enough to become policy in North America.