Depends which city but it’s A for decent sized cities in central/north/Western Europe (less so for eastern and Southern Europe although major cities there will also be like that).

Even midsized towns in Germany, Austria & Switzerland will be pretty doable without a car. In less affluent countries like Poland and Czechia (I have lots of friends in both and lots of relatives in the latter) outside the major cities people expect to drive (it might still be possible just less convenient than in the German speaking countries to rely on transit). I have Greek friends who say it’s similarly inconvenient in many parts of Greece.

But I suspect almost nowhere urban in Europe will be completely unlivable without a car.