But that's a function of the road/street design. If bikes are well supported then people will probably switch to bikes.
1. Cars are more expensive in those places, generally, but
2. You don't need a car as much, so there's fewer cars and they're not driven as far.
In practice this tends to mean lower transportation costs in those areas, even if on paper it may look like it's more expensive because owning/operating a car there costs more.
When we moved to Munich, we ditched having a car entirely. If we still had a car and had driven it just as much as in the states, then sure it would've been more expensive. We just didn't need to do that. (As soon as we moved back to the US we got a car again of course)
Would certainly be helpful to also upzone for mixed-use, so you could get more shops in places closer to where people live, but it's not absolutely required.
In London, Pret used to semi-ghost resupply sandwiches to their tiny stores from catering-like hubs via hand carts.
Of all the things to wish to automate away, driving 40 tonne vehicles with notoriously poor sightlines (though they have imposed safety minimums in London[2], but not after many, many deaths), often with steering wheels on the wrong side, down urban roads seems one of the better ones.
[1] https://en.m.wikipedia.org/wiki/London_Post_Office_Railway
[2] https://tfl.gov.uk/modes/driving/direct-vision-standard-and-...