The closest thing to 'eliminating streets' you see people advocating for is streets in urban cores that are pedestrian / bicycle first and car second.
Deliveries can be still go down those streets at off hours and slowly. If necessary emergency vehicles can still access those streets and turn on their sirens to clear people out.
London and Europe have tons of streets like that and most US cities have none.
Old world streets are narrow and sometimes cobblestone. Usually enough.
Compare that with the 50 foot wide boulevards of suburbia, USA. One job I had you couldn’t even cross the street for half a mile because it was built like a freeway.
The alternative is to build denser, sure. But as someone living in Germany and seeing all the Neubau here… is it really so appealing living on 500m2 surrounded by 50 houses like that where neighbours look into your house? Where in the summer you hear everything what other people do? One has 4 children, another one has a dog barking all day, another one likes playing music loud, the odd one does parties every second night, the couple two houses down fights every evening, every weekend there are a couple of bbqs into a late evening, every day some dude mows his lawn so there’s only the Sunday when nobody mows the lawn… there’s nothing appealing in that kind of neighbourhood. You buy a house, you gonna live in it for years, why getting pissed off with your neighbours every second day?
I don’t know, I guess it’s a matter of perspective. The point of view depends on where you sit. I’d choose the suburbs if given an opportunity. Every time I visit the US, I’m jealous of all that space. I don’t even want a big house, no need for 300m2, 160m2 is good enough. I just wish for space around so I don’t have to listen to others all day every day.