A personal car is only a luxury as long as you feel good about mooching off your friends whenever you need one.
I think you're generally OK if most of your activities work via transit and Uber. As you suggest, as well, kids and pets probably make things more difficult.
I do own a car but that is only ever used for traveling to another State or to get into more remote parts of the mountains. For anything else, using a car would be inconvenient.