If they want the visitors (and they do as you can hear from the pained howling about work-from-home, and before then about suburban malls) the answer is a big yes, you need to accommodate visitors. (Notably different than outright dictating the built form but ignore at your own peril.)

It is admittedly an awkward to do a proper 'transition' from cars in less dense areas to transit stations. in ways that parking lots and garages alone leave some problems.