In many cases, but not all.

There are people who live out of their cars (no judgment there), and there are people who live without being dependent on a car for daily life. "Dependent" would mean most commonly using a car to go to work or school, the grocery store, friends' houses, and whatever civic or religious or social organizations.

I live in a place where shelter is not that much more expensive than car ownership, a bike supplies >90% of my local travel needs, and buses and the occasional carpool make up the difference. 8% of households don't own cars, 10% of adults drive "seldom" or "never", according to Pew. I would suspect that about 1-2% of Americans live like I do, while maybe as much as 25% are capable of it.

Relevant to the OP, there is a food pantry I can walk to, but when I used it, carrying everything back was often very heavy and either required multiple trips or made my arms hurt. I wouldn't say "lifting 50 pounds while hiking a mile" is very accessible, especially by the fitness standard of the average American.

Then again, if everyone had access to a bike cart or even a little wagon, it would be fine.

Also relevant to the OP, the US has 78 cars per 100 people, while China has 33. The rest of the world is largely doing a much better job at making places that don't require cars to live in them.