I beg to differ. A few Dutch cities did exactly that. Here's a video with a great example of the city I live near:

https://www.youtube.com/watch?v=Q9kql9bBNII

Utrecht did something similar:

https://www.youtube.com/watch?v=YPGOSrqXrjs

People centric infrastructure didn't fall out of the sky, we recognised bad ideas and reworked cities over decades to make them liveable. And it worked!