Take a look at Prague, for example. [0]
There is a chaotic maze of medieval streets in the Old Town (around the Astronomical Clock). But the New Town to the southeast, which was founded in 1348, is already much more regular; the king who founded it had a certain vision and the street grid reflects that vision. Interestingly, a mid 14-th century grid was able to accomodate some degree of car traffic of our modern era.
In case of Kraków [1], there isn't any unplanned corner of the city left, the grid in the Old Town is perfectly regular. This was designed around 1260, so a pretty old grid, but a planned city nonetheless.
The US needs to change how it does planning and learn from the experiences of other countries that actually took steps to become less car-centric.
The city I live in, in the northeastern US, started with no particular plan in the 1600s, and indeed, some of the streets were too narrow for cars.
In the late 1700s, a plan was laid out, whereby "the east–west streets were named for mammals while the north–south streets were named for birds".
The town I was born in, was founded in the 1660s. Probably not with a plan for the next 300 years.