I think there are quite a few visible changes to Cities on the medium-term horizon.
Electric Cars for one, which will almost certainly become the norm will mean both a plethora of electric chargers, likely in every parking lot, but also on-street in many dense cities, and will also mean a further, substantial reduction in gas stations.
I expect you'll see changes in boulevard/parkway landscaping in many cities, both with less hardscape, but also much less use of sod/grass. You'll see a lot more use of native ground covers and drought-resistant plants. We're seeing that shift already, it will grow exponentially.
Rapid transit (subways et al) will overwhelmingly go driver-less, as Vancouver's Sky Train already is; and Montreal's new REM will be; as will Toronto's Ontario Line.
That, in turn will see the installation of platform-edge doors at most stations. Retrofits are likely in NYC, Toronto and elsewhere; in addition to new-builds in this style.
Architecturally, I think you can expect a few things, less parking in many cities as parking minimums are increasingly abolished, not a huge visual effect in cities currently burying their parking, though some real cost and functional changes. But for Cities that still do above-grade parking, it will represent a greater shift.
I expect you'll see more use of arches and architectural references to earlier periods, but in a modern reinterpretation vs pastiche.
Its become cheaper and easier to replicate those things people loved in older buildings that were once done away with for clean lines and lower costs.
Expect grocery stores to be somewhat smaller, particularly in dense urban environments. But this will also shift elsewhere as home delivery demands less front-of-house space.
But you will also see two other changes in grocery (already under way) The first is more meal kits and restaurants-style food options; the second is produce, particularly herbs and greens grown on-site.
Canada's Sobeys chain is rolling out small scale herb-production to almost every store; the other chains will likely follow suit.
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Expect continued growth of cycling facilities; and more in-road sensors allowing for real-time traffic light adjustments.
LED Streetlights will continue to become the norm; but look as well for them to decrease in height and have a change in fixture-style in many areas to reduce light-pollution.
Also expect more use of Mass Timber in construction.
Toronto currently has several projects set to start construction in the next few months making use of this product.
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An environmentally conscientious, libertarian inclined, fiscally conservative, socialist.
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