But that experience of driving is often terrible when every single person (on their own with no heavy cargo) is using a car for every trip.
OK, but what would be the alternative? Especially for those living outside and entering the city either for work of for shopping?
When I was young, I went basically everywhere by bike, as I neither has a car, nor could I afford public transport (which would have cost me about 60% of available money). So I went to work and back on my bike (15km each way), and then to university and back in the evening (another 20km each way). Well, that was when I was young. Nowadays, this is no longer an option.
I don’t expect people to commute 20+km a day by bike. A safe bike garage at a P+R place would be nice and reduce at least part of the way by bike, but it does not exist. And public transport, well, at this P+R, there are good connections into the cities, but they have a low frequency and take quite some time, apart from costing a shitload of money for what they offer.