There's no way to plan a city so most people can walk to a Costco. Warehouse stores are an inherently car-based phenomenon.
They don't require everyone to own a car. At the very least, they can run an efficient delivery service. And there's got to be a way to make a 3 hour rental or single taxi drive once a month much cheaper than owning a car.
Sprawl comes from urban planning. I think you mean to say a certain approach to planning makes it unnecessary.
A competently planned _country_ makes cities that only seem to create generational poverty unnecessary.