The post is right, and even more so for developing world cities that emerged before cars were around. However the post is also naive. Cars are usually much faster, provide much better shelter from the weather, and are much less tiring than trying to lug bags from one place to another on buses or other public transport. They also place far fewer constraints on when you can travel. Of course it's possible to structure…
With self driving cars and dedicated roads or lanes for them; we already have special toll lanes in many cities; the distance one lives from work may become a non factor. Throw in better tools for telework and cities may simply become the home to two groups, those who can afford their secure enclaves and those trapped by government subsidies.
Cars gave freedom to many people, freedom to move about as they want, freedom to shop where they want, and freedom to live where they want and still do work. Automation will increase all of those options. Cities will need to reinvent themselves to be relevant.