[ido]

Both my kids were born in Berlin (now 6 & 8 years old) and we never owned a car. In some ways transit is even easier with a stroller as you can just roll into the subway/train instead of having the disassemble the stroller and put it into the trunk. Buses require a bit more effort to board with a stroller but newer busses allow the driver to lower them near the curb to make boarding with stroller easier. We’ve done that for the entire time our kids used strollers.

[nsokolsky]

I'd bet good money on your life being overall easier in a less dense city and two cars. But yes, you can do it and people have raised kids without cars for millenia.

[ido]

Life in a less dense city itself would be different (fewer career opportunities - despite remote work, less cultural opportunities, etc). Also kids become more independent earlier so we won't have to drive them everywhere as teens etc.