Often the car infrastructure itself is what makes getting around without a car infeasible even for short trips - and short trips are a very large portion of trips taken. There are many, many destinations near me that are within easy biking distance, but doing so involves crossing highway ramps and mixing with fast-moving cars.

We do not need to allow cars to take every possible route. Alternative modes of transport are more useful if they're prioritized on the most direct routes. Cars are fast, a diversion won't impact them as much as it does someone on a bike or scooter.