If you want the freedom to move across vast amounts of open nature, then yeah the private automobile is a good approximation for freedom of mobility. But designing urban areas that necessitate the use of a private vehicle (or even mass transit) for such essentials as groceries or education is enslavement. I don't buy the density argument either. Places that historically had the density to support alternative modes of transportation, densities that are lower than they are today, are only marginally accessible to alternative forms of transportation today. Then there is modern development, where the density is decreased due to infrastructure requirements.