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Eliminate the idea of car-oriented strip malls from all new developments and instead plan for mixed-use community "downtowns" with public transit service and underground parking garages. They would include shops, small restaurants, condos, pocket parks, pathways... These centers would be integrated with their surroundings and easily accessible on foot and by bicycle. As older strip malls start to die, change the zoning to encourage their replacement with mixed-use development. I've added a photo from Google Earth showing a mixed-use area outside Paris where the neighborhood shopping center (U-shaped building at center of photo) is topped by condos and anchored by a pavilion for farmer's markets.