Mixed-use developments, walkable neighborhoods. When you make it easy to walk or bike to any place people need to go, parking is not necessary. Plenty of cities do it just fine, just not in the US.

Then invest in public transit (trains, mainly) for whatever isn't within walking distance.

Japanese cities have extensive train networks making it easy, quick and cheap to get around. Most people living in Tokyo or other major Japanese cities don’t own cars. This makes the cities much more liveable and community oriented.

If you built for cars you get traffic and congestion: if you built for people (transit, bike lanes, pedestrianization) you will get community

Also ban free parking