Studies show that - particularly in Europe - most people are already walking to these shops everywhere. The 'weekly shop' is not really a thing that inner-city dwellers tend to do that often - they either rely on deliveries (cheap and efficient due to density) or smaller shops throughout the week (which often means less perishables waste.)
Something I wish the holier than though types thought of when they banned plastic bags here. No I can't just keep my reusable bags in the back of my SUV so I have them when I go shopping.
You can have the same lifestyle almost in the states, just live in a downtown area. Watch out for all the cars though, and wading through huge parking lots can still be a problem (I currently live in downtown Bellevue WA, which is only halfway pedestrian friendly, especially compared to Lausanne CH where I lived as a post doc).
That single location remains to this day the only hypermarket in the Netherlands [1].
Lausanne has nice cobble Stone pedestrian only zones, and it is considered more car friendly by European standards (there are lots of car commuters, and lots of people living in suburbs).
Note that there are exceptions where there are stores. However before you point them out, remember that in a generalization there is specifics that are wrong. Even if there are stores, are there enough stores to cover each tiny neighborhood or do a lucky few get stores and the rest have to drive because the stores are not close enough to be useful.
Even red-state St. Louis had a grocery store downtown, though it took a bit to find one near the hotel I was staying at.
I will grant most people I know living in Amsterdam rarely get outdoors into the green, which is why I did own a car when living inside the ring.
From what I've seen what follows next is usually the same: the plans are executed, as long as you don't insist on driving your car to the store front in the middle of a medieval city, you're happy because the city became more pleasant and after all there's a ton of parkings, studies one year after execution show less severe accidents involving cyclists and pedestrians, no measurable effect on commerce and less pollution. (again: this is only what I recall from having heard and read here and there, I did not research this in depth so reality might be different)
They parked their horse / carriage in front of the shops?
I have never seen a collective group of people lose their shit during the town hall meeting that much. It was like the end of the world. Apparently during the 750 years history it has become mandatory to have visitors parking right on the monumental cobblestones. Walking 450 meter, even with the free provided wheelchairs, became impossible. I wonder how people survived back in 1438 without the ability to park their car right in front of the shops.