End zoning restrictions which requires all single family homes in a given area and allow mixed zoning. Minneapolis and the surrounding suburbs are doing this right now and there are apartments going up with the ground floor being shops, grocery stores, etc. Minneapolis is the first US city to rein in inflation below 2% because housing hasn't been as much of an issue. They started funding higher density housing back in 2018 and it is paying off tremendously right now.

One you build a few apartment buildings in the same area you can support bussing to the surrounding area, and most people can get around to where they need to for work.

Ideally you get light rail, but nimbyism is a huge pain that is hard to overcome. Still though, just getting to that point reduces the number of trips you need especially if you build bike trails to make short distance commuting even easier without a car.