But it is highly impractical to go somewhere that is a good distance away on by foot or horse when you have to be at work the next day.
Right, so most of their trips were either to nearby destinations or took more than one day. And while you were away your eldest son would take charge of the farm, or whatever. What's the big deal?
Look at the population back when people traveled mostly by muscle power.
The farm land that I live on has been subdivided dozens of times, The next hill over is soon going to be covered by 240 McMansions, each with an eigth of an acre or so of land.
Decrease our population back to early 1900s and we can return in part to a farming life. Then again, how much of the technology developed since then are you willing to give up? Who will maintain it? Most Tech companies have moved out of the cities for cheaper land. There's not enough people living near by to keep them running.
I work 20 miles from home in the main offices of a large convienence store chain, trying to keep their software running. If I have to farm my land to survive, I can't pay for my mortgage so I will have to sell my land, so I can't farm it...
Things could be changed, but it would be painful and a lot of people would have to sacrifice a whole lot. Who's first?
And look at the poverty of the "Good old Days", our percentage of below poverty is lower, and our standard is much higher.
I know you're not really advocating a return to the 1800s, but we live in a society that has developed with the automobile, It would take considerable effort to wean ourselves.