That's why almost no one is saying abolish all of the above by fiat. Hell, even a car free city needs a transition period, but it starts with ending subsidies for cars like free parking and minimum parking requirements in new development (in core and core adjacent areas that are well served by transit and/or are walkable) and undoing racist zoning that keeps housing from being built in areas that most need it: high price, high demand areas, instead of pushing that development in minority/less affluent neighborhoods, causing gentrification.
All while we prioritize humans over 2,000 lbs of steel and aluminum by making places safe to walk and bike to and through. And move from there.
These things must be done, if not for future human health, then for current human health, safety, and economy.