For some definition of 'good'. In Germany it's usable enough that you can live without it, but only if you don't really value your time and comfort. From my personal experience, only the Netherlands has a city structure and public transportation that truly makes a car redundant.

It's all relative. Living in Dublin, I'm always amazed at how good the public transport is in German cities when I visit (in particular, it's punctual enough that "take this tram, then wait three minutes and take that tram, then wait four minutes and take that train" type directions often work!).

And then again, I'm always amused when visiting Americans think Dublin's awful public transport is good :)