To the tiny residential streets, maybe, but they never really left those. I walk my dog on the street in my neighborhood (no sidewalks). The bane of our walks are the stealthy electric things. With those around you are much safer at night when you can see their lights around corners. We will never see pedestrians taking back the main roads. The separation of pedestrians and cars is more efficient for both. Our cities would grind to a halt if every truck and ambulance was suddenly stuck to a walking pace due to pedestrians out for a stroll.
Motorcycles and bicycles also aren't going anywhere, not for decades. Telling those groups to give roads back to pedestrians, to put away their favorite two-wheeled toys and stick to a walking pace ... Bring a helmet when you tell them it's all over.
It is interesting to note that at least one of these laws seems to be returning. Reducing residential speed limits to 30 km/h is a trend now and is done to increase pedestrian safty. Driverless cars will of course also be so restricted. If it turns out that driverless cars are actually safer for pedestrians then pedestrians will return to the streets. Then "The motor-car is not to be made as useful as it should be.." will be an issue again.