Well, Lisbon, Madrid, Valencia and Sevilla. Sure, there are cars and roads, but the public transport system is good enough that you don't really need it. You only need a car to get out of the city. Also, in Sevilla (and now Valencia too) there are enough dedicated bike lanes that you can go to almost anywhere on bike, and you won't need to mix in with the cars or pedestrians.

Middle class definitely live in the city in those examples (and you won't be surrounded by homeless people) . In general European city centers come from medieval times, making them very walk-able (and touristic).

Sure. Keep in mind, the idea isn't "no cars around at all", it's about balance and prioritization.

Houten, the Dutch suburb that's really built for bikes, even by Dutch standards: https://www.citylab.com/solutions/2015/06/a-case-study-in-bi...

"Superblocks" in Barcelona: https://www.citylab.com/transportation/2018/08/inside-a-pede...