Non tech-heavy solutions:
- A path can be driveable for special circumstance while still being mainly pedestrian. I think it is reasonable to ask pedestrian to give way to ambulances and firetrucks.
- A path could be required to be destroyable on emergency: e.g. bushes, flowers, light barriers should be destroyable by a good fire truck if they really need to go through. The lever here can be put fairly high, at the end of the spectrum if you look at what military consider "drivable on emergency" it includes pretty solid walls.
- I lived for a while in Tokyo where every tall building needs to contain its own evacuation facilities which may include emergency sliders that would generally make evacuation by ladders unnecessary.
Tech-oriented solutions:
- Helicopters/drones. Electric vehicles allow some funky possibilities, like them being tethered to a power source (available from any electric vehicle recharge station) and could stay up as long as needed.
- Snake firehoses, these cuties can be powered by the water pressure and move guided by light and heat.
- Autonomous vehicles half the width of a car, with a mean active suspension, that can fit a laid down wounded and start driving to the hospital without waiting for an ambulance. Military already have those. Smaller than a car, can fit on a bike lane if people give way.
There are excellent reasons to oppose flying vehicles in residential areas and to be critical of a drone-heavy future, but like every tech, used in moderation with an appropriate weighting of the pro and the con, it can lead to remove otherwise inescapable constraints.