Park and Ride mass transit in. It’s the only compromise that can be made, really. No cars beyond allowing registered work vans/trucks and emergency vehicles.

One way or the other it’s inevitable. We either voluntarily (sic) shut down inner cities to any traffic other than the aforementioned due to obvious reasons, or, if AI can ever actually drive us, than we go all iRobot where humans just physically can’t keep up with the speeds and the windows blacken out.