* http://www.amazon.com/Walkable-City-Downtown-Save-America/dp... (Warning: Speck's tone is pretty bad.)
* http://www.amazon.com/Happy-City-Transforming-Through-Design...
That said - The High Cost of Free Parking (1) and The Walkable City (2) are both excellent reads on the matter of parking and car parks. The second is the more readable.
(1) http://www.amazon.com/High-Cost-Parking-Updated-Edition/dp/1... (2) http://www.amazon.com/Walkable-City-Downtown-Save-America/dp...
Speck is kinda acerbic, but if you can get past this, his points are very good.
But a pervasive public transit system, combined with cycling and walking, achieves that. What it doesn't achieve is the capacity to ship large items between arbitrary points, and a distinct comparative slowness when traveling long distances (vaguely defined).
And you could just as easily argue that the health of a society is degraded by the over-usage of what amounts to an isolating coffin on wheels. There are no opportunities to casually chat with a stranger (unless you carpool with different people, or yell out the window at stopped traffic lights) while in transit: only the endpoints of your trip matter for the cross-pollination you speak of. I would expect this results in zones of high quality surrounded by the mortar of low quality areas.
Incidentally, I picked up this book today: http://www.amazon.com/Walkable-City-Downtown-Save-America/dp... I haven't read it yet and thus cannot recommend it.
http://www.amazon.com/Walkable-City-Downtown-Save-America/dp...