Nowhere that I've read requires the end of vehicular roads in "walkable cities".The point is to make it not necessary to have to drive for the amenities.And it recognizes that roads are still necessary so that people can drive to work and other parts of the region
I was down in Toronto a little while back. My first time in about 4 years. Two observations jumped out at me almost immediately. The first was how easily non-carbon generating transportation was readily available everywhere. The second was the vehicle traffic on the roads was noticeably less than my last visit.
They were still building roads, but of the main thoroughfares, were now down to 3 lanes of vehicles, with the outside lanes now designated to bikes. I was presently surprised.