There are still crosswalks which are distributed around the circle. Rarely there are pedestrian tunnels to get inside the doughnut, like in Paris to visit the arch.
I dunno. Maybe I just haven't experienced the right ones, but my experience is that the most pedestrian friendly urban spaces have mostly (roughly) straight lines and right angles and lots of natural or man made barriers to free flow of cars to prevent them from going too fast. I don't know how you can square that circle.
https://www.google.com/maps/place/Airborneplein,+6828+KP+Arn...
It's extremely efficient.