Most Dutch cities have automatic gates, so that kind of traffic, we call it 'destination transport' for some reason, can use a remote control to open the gates and enter the city. For example police and ambulances can also enter the city.

Of the moderate size cities I've recently been to only Amsterdam still allows regular traffic in its center, and I think that's because it has such a large center for a Dutch city. You can't really park at the edge and then walk in.