I can see from a habitual car driver's perspective my life "looks" more limited because I can't go farther, faster to places out of town. But I really don't feel life hasn't been rich enough in experiences so far even after being car-free for 30 years because during this same time:

*I've lived in 4 different cities across 3 provinces. (6 if I go further back to include car years.)
*Travelled in every province, except for Newfoundland, Yukon and Northwest Territories
*Travelled in the U.S. for: Washington state (several times), New England states (several times), California, New Mexico and Hawaii (twice). Of all these multiple trips, we've rented a car that amounted to a total of: 1 wk. Rest was a combination of rail, bike, bus and transit.
*Travelled in Europe (3 times),probably a total of 15 different countries. NO car rental. Might have taken taxi less than 10 times, usually to get to local airport/rail station from an awkward place. Did Europe by: rail, bike, bus, local ferry, hiking /walking.

*It does help to naturally know a 2nd language/culture in a dim way (My mother tongue, so I don't feel my life isn't rich enough../world is too narrow by staying in 1 town/city for my whole life.)