So we agree banning cars from.cities is good when the public infrastructure is put in place.

No, we do not agree. A ban is stupid even when there is a decent public infrastructure.
What is needed is to have a public transportation system so good that people do not want to use the car.

Also it’s not like all cars have to be banned fully, make a toll for cars to enter or limit where they can go.

Here they did it.
There are just two results: the problem just moved to the suburbs since the public transportation still cannot replace the private cars and people just changed their habits so they enter the city before the toll's time start and exit after the toll's time end.
Both for a number of reasons but principally because if you need to move around outside rush hours the car is still the best choice, time wyse.