I live ~5 minutes from my work, but unless I want to walk/bike on the shoulder of a road where people are regularly going 60mph I have no option besides driving. And i live in a small town, must be even worse for medium/large sized cities
Definitely a lot of work yet to be done, but in my experience most reasonably sized cities are at least beyond the “share lanes with cars on the highway” stage of things. That’s a pretty low bar.
I work 25min by foot from home, and while most of it is by busy carcentric streets, I can walk a bit through a park.
If I drive a car I can get there in 10 minutes or 15-20 in a rush hour.
I can ride a bike (my own or a city bike that's free for under 15min) in 13min.
Or I can either take a bus (25min) or a tram (around 30, because I need to walk further but less than a straight walk.
I actively refuse to move to any "cheaper" new suburbs because then I would have to sit in a car for 80 minutes no matter how I feel about it that day.