"but I think having the streets be only for the wealthy"

but that's basically what they are now, in as much as they are catering for the most expensive form of transport (aircraft and tanks notwithstanding).

Having the streets for everyone means having them be for walking, cycling, scooters, bikes, buses, etc. Hell, donkeys while we're at it.

Yes, but why should the debate be framed in terms of only looking at fees or living with congestion? There are other approaches to what is essentially distributing limited resources.

well, there's pricing, or rationing, or some combination (e.g. Pricing, with exceptions for those where we want to accept the externalities as a society for a greater good, like not charging ambulances). Which do you prefer?

The congestion in NYC makes it dangerous to bike and slows down busses. Allowing cars to own the roads is precisely a "richest wins" approach, at least in Manhattan.