How to design a city?

I don't think you need to provide access for 'both'. in central london there is no need for the private car.

you can provide accessible public transport rather than facilities for non-accessible private transport.

you can also limit freight activities to certain times but provide incentives (to reduce costs so consumer doesn't pay).

planning needs to be sensitive to needs but must also have vision

perhaps if you were designing a city from scratch perhaps you could do away with cars. but a statement like "in central london there is no need for the private car" is just not true. there are plenty of necessary uses for cars (or let's say "personal motorised transport") in central london. the entire city would need to be radically reconfigured to avoid this.

besides, even if people didn't need to own cars individually, you would still need to provide road access for vehicles like ambulances, delivery vehicles, taxis etc.

the car is here to stay for the foreseeable future, and like it or not city planning has to take that into account.