Not in a lot of places in the US, super not in cities. Yeah you can get away without spending money but the expectation is there, and often baked into how people socialize as well
That's what I/we want in North America, but for some reason people always think they have to drive a vehicle to within one meter of their desired destination.
We do, unfortunately, have the "especially if they're not white" part in Australia as well. I'd definitely say we're doing better though, for example far less PoC die as a result of the police here.
To be fair, we do have far better public transit systems than most of the US. When I was a teenager, I could easily go to the library after school, then catch a bus home afterwards. Our libraries also offer far more than just books in most cases. There were community groups, video games and consoles, a café that was community run twice a week with really cheap coffee. It was always a better place to study for me when I was doing my high school certificate.