If people cannot traverse the distance required, it doesn't really help.
For example someone with bad osteoporosis, and who doesn't have a $10K+ wheelchair and a $75K minivan to carry it, won't really gain much by theoretical ADA sidewalks if the distance is too far.
Claiming stuff is "disabled accessible" without really considering the people we're talking about is just a lie society tell itself to feel less guilty.
Wheelchairs and scooters can be funded by the Government, generally in a means-tested manner, and we have something called "Handydart", though where I live _all_ transit is wheelchair accessible.
You can't exactly escape the cost issue. The alternative you present is that this person has a car, which is quite expensive itself, and presumably someone to drive them given the bad osteoporosis.
Regardless of the design of your hypothetical city, such people may just need family help or public assistance to get to where they want to go.
One solution to this is this person should move closer.
The article imagines "building cities for people, not for cars." That implies re-imagining the suburban model of doctors, shops, et cetera being spread across miles. My Manhattan city block, for example, features an allergist, several restaurants, a grocery store, a book store, a daycare, a coffee shop and--in all likelihood--half a dozen other things I have yet to notice.
Moreover, the choice isn't between only pedestrians or only cars; there exists combinations of the two that are more favourable to pedestrians but allow access by vehicle for those that need it.