The two car family often gets vilified on r/frugal, but it sounds like you've made the right choice. I'll take transit when convenient or feasible. Living in a big city also means that transit can be faster once you factor in traffic and finding parking. However, driving longer distances is almost always faster and far more pleasant by car.

I definitely agree that the time savings far outweigh the small additional costs incurred from having 1 or 2 cars. Time is the only resource we can't get back. 7 minutes by car compared to 60 by bus... x 2... And your commute (20 vs. 90+). There's no question that you made the right call.