Well, I'm not saying "go ahead and build parking the exact same size as a Walmart parking lot right behind everything and all our problems are solved."
And I'm advocating for a holistic solution here: doing things like restricting the location/size of parking in addition to other measures. They all work together. Nobody's going to walk/cycle if all the pieces aren't in place.
Remember this also: You don't have to eliminate cars to reduce trips and lessen dependency. The choice on whether to use a vehicle can be left up to the individual, but if there is no realistic choice then the end result will be that the spaces we see in our lives will be maximized for vehicular use rather than a more balanced paradigm.
Great example is this business park in the Netherlands, where it's really obviously built quite well for cars with ample parking, it's nowhere near the city center, but it doesn't exclude people from getting there other ways. So, there's still a lot of space used for car-based infrastructure, but it's not anywhere near 100% car usage like you'd see in an American suburban business park: https://www.youtube.com/watch?v=SDXB0CY2tSQ
Let's say that Walmart builds 500 parking spaces when there is no realistic hope of walking, but what if there was a frequent bus line stopping right in front of it, housing in close proximity, and separated bicycle and pedestrian infrastructure that felt safe and inviting. Would they build those same 500 parking spaces on their own free will (with more of them sitting empty) or would they build fewer parking spaces for a lower overall cost? Essentially, we should be prodding the "free market" to get closer to our desired outcomes rather than giving them only one choice.
If you have a situation where people driving to the grocery store use a car 100% of the time (for all the heavy bags), but maybe they only use the car 25% of the time to get coffee or get to the park to take a walk, that's still a win over using the car for 100% of activities.