Yes, being able to get to the only grocery store several miles away is a luxury. Driving 45 minutes to work because there's no jobs in walking distance other than fast food is a luxury. Going to the only doctor that takes your insurance/medicaid on the other side of town is a luxury.
You're either not from the US or you're so privileged that you cannot conceive the kind of life anyone less fortunate than you leads. Our entire society is built around the assumption that everyone drives. If you don't, then fuck you, get a car you bum. It's your own fault you're suffering. Get some bootstraps and buy a car already, you're just lazy.
If you are in the US, just try going without a car for a month. You won't last more than three days. Then come back and tell me what a luxury it is.