How about more driveable cities? There are a few walkies out there, but a stated preference for walking usually comes down to sour grapes (can't afford a car or a move to the burbs), or poor urban planning making driving more onerous than it should be. Dignity is car ownership and the infrastructure to make the most of it.
How about not. It's not sour grapes that people prefer walking, and even if you had a government program to give everyone a car, what then? Congratulations, you've just made more traffic. Car's don't scale. They are super convenient and I will admit to having one (sometimes two!). But being unable to afford one doesn't deal with what to do when it breaks down, or gets stolen, or is towed, or gets clamped for unpaid parking tickets. There is no dignity in having a shitbox car that's 20 years old and falling apart and is just threatening to break down on you.