Ghent has a low emissions zone where cars that meet requirements are permitted. Heidelberg the same. Nuremberg the same. Barcelona allows cars, just not through traffic in certain blocks. Venice. Well, it's kinda waterlogged and a tourist attraction in a swamp.

If you just copy and paste a list from Wikipedia you don't usually get a thorough answer. All of those cities have completely different characteristics to Richmond, and none of them are car free.