One thing I keep coming back to is a separation of pedestrian and vehicle traffic. The idea of having sidewalks right next to the roads is just as stupid as having opposite direction traffic side by side.
Imagine a long high density urban area with pedestrian areas down the middle, and roadways around the outside. This is speculative of course, but the idea is to start with high level concepts like: keep the people away from the cars, make sure traffic doesn't cross, use only high density construction (because it makes public transit work). You get lots of conflicts, but I think we could do a lot better than what exists today.
This discourages driving within city limits, and encourages bicycling, walking and public transport.
I have an anecdote to support this. The bike path to my place of work runs along a river, far from traffic. There is a wide area for pedestrians as well. The difference between riding on this (think peaceful) and riding in a bike lane on the shoulder (life threatening) couldn't be any larger.