It’s entirely dependent on the situation. Some areas, additional charges work best. In others, it’s possible/necessary to redesign road and street layouts to prioritise higher-density modes of transport and physically discourage low-density modes like cars. This might be priority lights for public transport, lowering speed limits and narrowing streets. In some contexts, it’s necessary to completely disallow cars with things like bus lanes, bike/pedestrian-only areas. Separated tram/metro lines, too.

Most of this infrastructure, in practice, also aids emergency vehicle use as they can usually fit down bike lanes and are obviously able to fit in bus lanes.