Maybe this is at a smaller scale than you're thinking, but Cambridge is repurposing a lot of car space for other uses. Mostly this is taking away on-street parking to make way for bike lanes, but also cafe space, especially around Central Square. You can see this along Mass Ave, Hampshire, Garden, Mt. Auburn, etc., with more streets planned for this spring. It almost seems normalized at this point that Cambridge will take away a lane of parked cars to use for other purposes. This is increasingly true in other cities around here, too.
Maybe also fitting your question, you could throw in all the new-ish dedicated bus lanes. They take away car lanes. They're happening so slowly it's hard to say they're really "normalized," but the bus-only lanes are getting more common.
I agree with the other comments here, though. Car-culture is really entrenched. Changing that is difficult, especially when it comes to touching highways or arterials. But taking back street space from cars is proving to be possible.