The problem isn't the automobile itself; the problem is auto-centric planning. There's also (as evidenced by the ugliness seen in the first post) the wider problem of late-20th century decline in aesthetic standards which isn't strictly related to cars.
Pre-automobile cities are probably the pinnacle of urbanity - and for that reason their preservation is essential - but the reality is that cars aren't going anywhere now, and they serve a pretty vital role for transportation of goods and people. Rather than wishing they were never invented, let's instead consider ways that they can be better incorporated into the urban fabric, while also giving residents the ability to get around the city by multiple other means of transportation.
I think Japanese cities can teach us some useful lessons on how the automobile can be incorporated into modern cities without having them overwhelm or detract from their urbanity. Most newer housing has off-street parking, parkades & underground parking are common, expressways weave through cities - yet they're still highly urban, and dense enough to be walkable and support high-quality transit service. They're car-friendly without being auto-centric.
https://www.trendir.com/futuristic-o...nspired-tok-1/
https://www.alamy.com/stock-photo-da...-54150983.html