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Me and my sister were raised without much trouble despite not having a car. The trick is living a city that is not built for cars with humans as an afterthought.

I think this is absolutely dependent on the transport network you have available in your residence area.

I have lived in cities where I _needed_ a car to do anything or wait for hourly buses + walking several miles.

I've been living in a city where I just use public transport (with a baby + wife) and I have only rented a car twice in 3 years, once to do a house move and another time to visit friends in a remote countryside location.

Demand more from local governments or move to a location that provides adequate transport as a service.

I lived in London when my daughter was aged 2-6 without a car and without a stroller and never thought twice.

Its almost easier to get around large urban cities on foot then with a car. My strategy anytime I am in a large city is drop the car even if its not near my final destination.