- ambulances and fire engines
- trucks that deliver goods to inner-city shops
- moving vans
- vans of craftsmen
- etc.
Also, there should still be some form of carsharing for when families go grocery-shopping, or when I buy a sofa and need to haul it home.
Sticking with cities, all of your points can be achieved designing roads for no cars and pedestrians everywhere. We already do it to a limited degree in the pedestrianised urban centres - which still permit emergency services. Deliveries to shops and tradesmen are often restricted to specific time ranges only. Barriers at the periphery enforce time or permit access. More space for pavement cafes, planting, but keep a single lane for the few trucks, emergency, even taxis in some places.
You can also see it with "shared space" becoming more common in residential areas. I think it was a Dutch idea, sometimes called "naked streets" depending where in the world you are. That's removal of all lights and markings from junctions and streets, sometimes combined with calming features to ruin line of sight, maybe by planting trees, or insert slaloms. That results in kids able to play out, or pedestrians walking in the middle of the street, and crossing wherever they like. The driver becomes no more important than the foot traffic, and they have to pay far more attention, especially at junctions. Still lets all traffic in, just vehicles no longer get to come first in a set lane that pedestrians feel excluded from.
Comes down to where we place priority. Seems pretty clear the 60s post-war ideal of Brutalism, walkways in the sky and expressways of cars, but no buses and trams, while gaining longer commuting distances everywhere was absurdly anti-human.
That said, I feel no cars at all is the ideal we should aim for, and build our roads for - with the necessary investment in public transport.