It depends on the city. Many american cities have so much suburban sprawl that you're just not going to plan your way out of car dependency in our lifetime. The progress that can be made in these areas right now is zoning to break up the massive single use neighborhoods.
Edit: "full size" could mean a couple of things. Mall crawlers and pickups are ridiculous here. Sedans, hatchbacks, and even crossovers make sense here, depending on your individual lifestyle and needs.