I now live in the countryside, but in a quaint village in a country with only quaint villages.
So, my point is that I think that car-friendly and people-friendly are exclusive. I was careful to say it was my opinion, as I guess that everyone who agrees with the article will upvote-and-move-on and those who come to comments will be doing so to disagree with it ;)
Venice is particularly interesting: it has a massive carpark where residents leave their cars.
https://en.wikipedia.org/wiki/Poundbury is another. I have never been to Poundbury, but it seems from what I've read like the kind of place I'd like to live.
My favorite commutes have been walking commutes, but I haven't had a job where I could do that in years, and I bought a house which isn't within walking distance of any jobs I'd want so that won't happen for the foreseeable future. Unless the walk from my bedroom to my home office counts as a "commute".
Furthermore, pedestrian-friendly is nice if you manage to sleep in a nice accommodation at a walkable distance from your centers of interest: this is usually the case when you visit a town as a tourist, but not so easy when you leave there.
However, for all the roadbuilding of the past 30+ years, the city remains well walkable, in a loose sense: the dense public transit network (a dirt-cheap yearly pass, trains running separate from all other traffic, semi-separated light rail, and an auxillary bus network) allows me to move about easily: walk a bit, hop on, ride a few stops, walk a bit again. This way, anything is within my "walking" distance. So, even though I'm not living in the city center, I can get there within half an hour (or in half an hour by car, hunting for parking spots included).
This, I believe, is the crucial part: walking by itself is okay for short distances, but needs efficient public transport on longer trips: "we'll just buy a bus or two" doesn't cut it.
(So, yes, it's easy even when living here: walking is not a tourist attraction, it's a mode of transport; and I even see a lot of tourists on the metro, "doing as the Romans do": using public transport as an extension of their legs.)
For example, in London only half of families have a car, and very few have two: http://content.tfl.gov.uk/technical-note-12-how-many-cars-ar...
When I lived in London, and later Stockholm and Malmö, I didn't have nor need a car. Sweden was particularly pedestrian-friendly.
Warning: "like to visit" != "like to live in"