I walk to university or ride a half empty train to the office every day. After work or on the evenings we hang out in public parks / public lake / or sit outside in cafés in the pedestrian zone most days.

I can tell you for sure that it doesn't bother at all when the pizzaria owner next door drives his Opel Zafira through the pedestrian zone to offload groceries at his restaurant. It doesn't bother because it's the only car of the evening. If it was a 24/7 traffic jam 4 lane road next to the table it would matter.