One explanation: the pollution is unpleasant, so each local community is keen for cars to linger near them as little as possible. In contrast, people walking cause no harm, so they are made to wait.
Reposted from Prof. Ian Walker
Two identical twins leave two identical houses to go to two identical jobs

One walks, the other gets into a car that causes pollution and danger

Explain to me why the former twin is made to wait for the latter, rather than the other way round

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