It ain’t that hard,

High density places:

lower parking availability, increase public transport availability and frequency.

Low density places:

They need their cars, they can keep them.

Remove zoning restrictions, and parking requirements

so there is more mixture of commercial and residential places shortening transport distance, allowing for even avoiding public transport and just walking/biking replacing this.

More biking infraestructure.

Fair taxes to car owners,

that means, othe people not having to support the huge car projects that cost more than they can get from the taxes they do on cars.

Also regulations on environmental design of cars, basically gaining back the progress we had done on car efficiency that was taken back by everyone wanting an SUV instead of a turismo.

:)