But what's convenient and a good idea in economic terms are often different things.
Just because the government stops mandating parking doesn't mean it ceases to exist - it means that it's no longer exempt from market calculations. Some developers will surely keep adding parking, because there's a demand for it. Others may not. They should be free to do so.
I've yet to see any alternative to cars proposed that I personally find acceptable, but some people do want to live that way for some reason. New areas of the city being made without parking for those people would be fine if there really is a demand for it but I wouldn't like moving somewhere and it later becoming car-hostile.
Where my family and I lived in Padova, Italy, transportation was a "right tool for the job" situation:
* We could walk to a grocery store, our kids schools, the doctor, a few cafe's, a barber, and a takeout pizza place.
* We could also walk to a tram that would whisk us downtown, which was way more convenient than driving and looking for a parking spot.
* We could ride our bikes downtown if the weather was nice, which was good for date nights when we wanted to be more mobile than the tram allowed for, and we didn't have the kids.
* We could drive (1 car for a family of 4) if we wanted to, say, go hiking somewhere out in the woods, or take a trip somewhere. There were weeks when the car would just sit there, though, because we just didn't need it.
Walking and biking are much nicer ways of getting around when stuff is convenient to those modes of transportation. Less stressful, and it feels good to move around. It's also far better for the environment.
Those things you listed are the costs; the freedom is to be able to spontaneously decide to go somewhere new.
I’m lucky enough to have been able to move to Berlin, which has excellent public transport links both internally, nationally, and internationally.
Before Berlin, I lived in a small village a 40 minute bus ride from Cambridge, itself an hour by public transport from most nearby interesting places. I cycled to work (in Cambridge) because it was faster than the bus, and also because (accounting for parking) the bike commute was about the same duration as going by car, and because of the health benefits of cycling.
Cycling also represents the same freedom that the car represents. I’ve cycled from Hoek van Holland to Brugg in Switzerland. There are cycle paths for the entire route, although I ended up in Brugg because of a wrong turn in Stein-Säckingen.
Public transport[1] also represents this freedom, at least when it’s set up properly. The point of my Cambridge anecdote is that it isn’t always done well enough.
[1] I include air travel in that. Planes are clearly flying busses.