I'm not sure that going back to the exact sort of city we had pre-modernity is quite viable or desirable -- but I do think (or rather, hope) that something more "human-scale" is in our future, even if it isn't exactly this.

I'm keeping my fingers crossed that self-driving cars are the catalyst. Car services -> Lower car ownership & drastically reduced need for colocated parking -> More easily hidden away infrastructure -> More livable cities.