No, that's what the suburban rail is for (see: NYC).
If anything, the suburban people can always park on the outskirts of city centers, and use public transportation (or walk) in the city.
But no, the cities had to be designed for the automobile. There was a lot of money to be made that way for the auto companies.
Think it sounds like a conspiracy theory? You are right, except that it's actually true[1].
[1]https://en.wikipedia.org/wiki/General_Motors_streetcar_consp...
> people who are a block away from every place they need to go.
I don't know of any city in the U.S. where a middle class person can live within walking distance of everything that they need. Take a look at the most urban cities in the U.S., San Francisco, New York, Boston. You're not living in a walkable place in those cities unless you have a title that includes "executive" or "vice" in it.
The closest is probably Chicago.
The typical American situation today in 2018, is the poor live in inner-ring "old" suburbs, or the edge of the inner city. The middle class live in outer-ring "new" suburbs. The wealthy live in the heart of city, or in any part of the city dense enough to feel urban-ish (any 'gentrified' neighborhood).