A friend of mine says his kids prefer riding the bus to going places in their family car. In the car, my friend says he has to ignore his small children and watch the road. On the bus, they get more of his undivided attention. Also there are other passengers and fun things to see on the bus.
I've often thought that families are used as the excuse to drive, rather than live a "low carbon footprint, car free life." Then I met this friend who tells the story of his kids preferring the bus.
He also says his small family (mom, dad, two kids) lives in an apartment, rather than a detached house.
It can be done, even for people living "family lifestyles."