Mainwalks are great, but I agree with what you said.

Having well maintained public transport within 3 minutes of walking sounds way better than driving to me

behold: busses and trains

Well, the car centricism isn't gonna go away without effort. But the 'walking effort' you hate is going to become more tolerable and maybe even enjoyable the more you do it. So, I guess one 'hate' is endless while the other is not?

Pedestrianized infrastructure tends to be denser since they don't need parking lots. It often requires more effort to get in your car and drive and park than just walking 100 feet in a place without cars.

China has rideshare bike parking basically on every street, and it costs like 2USD/mo so you can almost always just get on a random bike and use it to go even just 100 feet to get to the subway or bus entrance.