Also realize that it was by design that you don't view having a car to be the luxury.
The design of US cities is just godawful from any perspective (environmental, social, business efficiency, crime rates, ghettoization, etc), compared to those in Europe. I'm fairly certain that Manhattan and San Francisco are so vibrant and livable largely because they're constrained by geographical barriers.
The city where it's architecturally most visible is probably Barcelona, where you can see the medieval core's winding streets, and then a massive expanse of centrally planned regular squares outside of that: http://en.wikipedia.org/wiki/File:Eixample_aire.jpg
It sucks, but so do the cramped cities like SF and Manhattan. You can never get a moment's peace and contemplation, and they're even more crassly commercial than your average strip mall.
There is no reason we cannot create towns and cities where people do not require cars. New York City is like this (having grown up there, I did not get my driver's license until I was 25 and living in a different state). We can create local transit systems with buses, trolleys, and light rail. The only place where cars really make sense is in very rural areas, where the population is extremely sparse.