This would happen naturally except that most US cities have made it illegal to build anything without gobs of parking attached, so car drivers like myself get a government handout.

In Tokyo, parking is managed by the market, so it’s incredibly expensive. So it’s always cheaper to take public transit without artificially low public transit prices.

Downtown any big city is accessible by car, but parking fees keep most people away. At least, I won't willingly drive to destinations inside downtown of a big city, unless it's something special that can't be managed otherwise.