Definitely. For stuff like that, emergency services, delivery, trash collection, etc. larger vehicles on streets are totally fine and I think most would agree.
I don't even necessarily think we should ban all cars, but we should definitely stop incentivizing them by heavily subsidizing car infrastructure with city budgets funded by taxpayers. I think if we stop the incentives that were heavily lobbied for by car companies we'll find the _true_ most efficient ways to build cities which will most likely be heavily geared toward walkability and bike-ability, public transport, etc.