In Amsterdam, before the corona crisis, the metros went every six minutes. If one gets delayed or you miss one, you just grab the next. Waiting 5 minutes can be awfully long if you're used to grabbing it though, and if it makes you miss your connection that sucks (train mostly, other metro is no problem). Also, parking in Amsterdam (center) is very expensive, AFAIK something like 7 EUR an hour last time I checked. I got family living there; you don't want to go to a birthday and spend 20 EUR on parking. Public transport is cheaper then. Do remember that removing cars still means trams, and pedestrians and cyclists need to be aware of these!