The reason StreetRoadTopia is a dark age is not because there are streets and roads per se, it's that the Pedestrians, in their hubris, smugly abolished Stroadlandia. Whether we get there by streets, roads or stroads, the real golden age is the friends we made along the way.
The truth is, cars are, for the most part, amazing pieces of technology that allows nearly every person freedom of movement. You aren't going to change that without creating something better.
It seems like electric, self-driving cars are a possible dream, albeit even close to a pipe dream. Cars none-the-less though.