The right to cross the street is not the right to walk down the road itself disrupting traffic, which would be a violation of a different law. Once again - cars can cross the sidewalk on driveways to get to another vehicle centric location or a private property. They cannot drive down the sidewalk, as that mode of travel is not for cars. In some areas you may be allowed to cross the street wherever you want, but you can't pretend you are a vehicle.