I'm not sure that's really possible. Trains can be made relatively quiet and don't pollute. They can be pleasant to be around. But cars on a highway are loud as hell and pollute like crazy. That's not a nice dining experience.This is what I long to see under the Expressway, along Albany Street. It could be so much better than the mix of parking lots and drug dealers.
Can you think of any examples of nice shops and restaurants under a highway? I supposed there has to be something other there, but highways are pretty fundamentally unpleasant to be near.