I grew up in a family of 5, albeit a decade after my siblings.
When I visited London with my parents, we went by train. When I was in the cub scouts, one of my memories was a group trip by train. When I went to middle school (years 4-6), it was easy enough for me to walk alone at the end, though mum did go with me at the start; when I went to secondary school (7-11) there was a bus, though eventually I found I liked the (3 mile!) walk.
Today, I find that my local bus route within Berlin to a nearby mall takes me past 2 schools, and at certain times of day the bus will fill with kids and adult supervisors. Sometimes I see people taking Kinderwagen on the bus.
This argument does not work when society is build towards roads and using them. I live in the Netherlands in a village, and not using a car is impossible with a few kids. The city is different.