None of those are as good as being able to drive a car around somewhere which is traffic free and has ample parking. Of course, it's inherently not possible for that experience to be open to everyone.
Not having to drive is usually much nicer, though. You can do something else while travelling, you don’t have to plan around where you leave your valuable vehicle, you can drink alcohol, etc.
Either way, for occasional driving to be pleasant it’s necessary for most travel to happen by public transport, so it has to be the most convenient option for most journeys.
Either way, for occasional driving to be pleasant it’s necessary for most travel to happen by public transport, so it has to be the most convenient option for most journeys.