I feel compelled to dissent against initiatives to directly take cars off the road, rather than improve alternatives. Growing up in the suburbs without a car, I was really excited about carless urban life. Then I actually experienced it (Hyde Park, Chicago). I'm on the opposite corner of the neighborhood from the business districts, so a little errand like CVS or the grocery store is around half an hour by foot each…
> I assuaged my claustrophobia by burning either money (Uber) or time to go downtown every few weekends
I don't actually take a lot of Ubers because my area is so well-connected by transit (and dense with commerce), but at least in my case, the idea that Uber is "expensive" as a transport option pales in comparison to the massive cost of owning a car (and paying for parking, maintenance, insurance, etc). Is this not the case for you?
Even with how walkable and transit-friendly my situation is, Uber and car rentals are still a necessary (though occasional) component of my overall transportation budget. Relative to living in a car-oriented area and owning a car, I still end up paying volumes less (as well as having a far, far better transport experience overall in terms of time, convenience, and health).