Learned to drive in my early 20s (many years ago now) and have had cars in the past.
Wanted to do without a car but live somewhere naice, so are in small town, a mile from school, two miles from town centre, 20 miles from big city, always got around by bike, foot, public transport and occasional hire car in the holidays. Loved it. Now have car so eldest can learn to drive... but we still walk, bike etc in everyday life. (Kids not at all sporty but get plenty of exercise in their every day lives ... as do I, I suppose!)
When kids were small they went in pushchair or bike trailer for short journeys (we are blest with safe routes into town), bike for longer trips.
DH and I each shop (separately) more than once a week and carry it all home by bike. Ditto large bags of compost etc (bike trailer is handy).
For holidays we take public transport to the airport - or taxi if early morning, is still cheaper than leaving car in airport parking! Yes it takes a longer time but it's more relaxing provided you plan it and don't leave everything to the last minute. And I can read a book or chat to DCs.
Umpteen senior people at my work regularly late for meetings "traffic" "nowhere to park" etc
Recently had family gathering in big city - DSis half an hour late, "traffic" and "parking" problems.
Most of our infrastructure was not designed with cars in mind, they just make people try ever-more silly and inconvenient ways of doing things.
Even now I have a policy of trying things on our own doorstep rather than driving pointless miles to do something. And is better for our local economy, which I do care about.
Thanks to pp for quote about developed countries being where the rich use public transportation - I love that.