Yes, we have. For a year and a half now, after my car (thankfully the smaller one, but annoyingly the nicer one) died.
We live in the centre of a small town and have four children. Both of us can work from home (we alternate who’s in the office, and the other only works a 10 min drive away). If either has a work trip away we think about the week ahead and either make sure the person at home has no need for a car/can borrow/hire one/uber or taxi. It’s still cheaper than having two cars.
Two of the kids go to school 3 min walk away, one a 15 min walk away and the last a train journey away (we live 10 min walk from the station). There are corner shops, Uber eats/deliveroo, 15 min walk to the nearest supermarket.
I’d prefer the ease of having two cars, and we could afford to replace my car, but it became hard to justify the extra cost when it only affects us a few times a year. That being said my eldest is going to learn to drive soon, so we’ll get a small manual run around then (I only have an automatic licence). It’ll also mean I can become named driver on our current car so can keep my no claims, and my husband on the manual, with child as extra.
We can only make it work because of our life. Proximity to schools, work, shops, public transport, friends is really important, alongside a heap tonne of flexibility.