(Anecdotally,) I disagree: I didn't discover many of the best parts of SF until I started driving around here. It feels like SF geography is really designed to keep you out of certain neighborhoods unless you're driving there to see friends.
In Boston, though, even when I had a car, I didn't feel like I was hanging out in better places than when I was riding the T everywhere I went.
Again, just an anecdote, but one shared by several friends.