No cars on the roads works for short periods of time, but with 15 million people living in e.g. the London metro, you need something to move 15 million people's worth of living logistics (food, goods for sale, garbage removal, etc.). Those are all carried by wheeled vehicles, whether it be cars, vans, or lorries. The niceties of the suburban or urban areas aren't possible without them.
Even if they were all electric or powered by unicorn farts or whatever, it's still millions of multi-ton steel vehicles zipping around leaving as much trace as a multi-ton moving thing would. I grant you at least the air quality would be better without internal combustion.
In the end, all Europe is filled with cute little walkable towns, yet people still congregate to the congested, filthy, car-filled metros, for some reason. And at a certain level of built-up population density, you just can't have a very nice natural environment; the brief moments of peace you observed during the Covid lockdowns or whatever can't last, because that would mean the city itself dies.