If you go to OpenStreetMap Overpass with this query: https://overpass-turbo.eu/?template=key-value&key=highway&va... then browse to somewhere in the UK and click "Run" you'll get a map.
If your town doesn't have them, write to your local council! And don't vote Conservative, as they have announced further opposition to anything restricting motor cars.
The key point is removing car traffic.
Shopping is now concentrated on retail estates and the "high streets" are almost always pedestrianised making it harder to injury the various drunks, junkies and homeless which now (ironically) call the high street "home".
King's Road in Chelsea is an example that immediately comes to mind.
Really what it comes down to is that nice areas with approximately the right density of people have nice high streets.
You could pedestrianise Oxford Street but it'd still be a grim place to be because there are hordes of people - at a certain point the people have a similar effect to cars in that it's not really pleasant to pause outside any more.
That's just not an environment where anyone wants to spend their time, and the decline is so painful to see. So many now are just betting shops, letting agents and kebab takeaways - but if these were pedestrian zones these could be so much more. See large European cafes with people eating and drinking outside on the street until late.