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It depends where you live. If you live in Manhattan, then yeah, it's completely unnecessary. Between insurance, minor accidents that constantly happen with fender-benders in bumper-to-bumper traffic or tight streets and paint scratches or cyclists who accidentally damage your car and then drive off... daily... and parking (and tickets because you can never find parking) ... and the frustration and aggravation... not worth it.
If you're outside of Manhattan, like parts of Queens, Brooklyn, or the Bronx, then a car is something that you unfortunately can't avoid having.
If you live in Yonkers or further upstate, or if you live on Long Island, then you "need" a car.1