Disability inclusion is an area where the United States is far, far ahead of many European countries.
Generally, when you have cities built around rail transport, you get clusters of intensive development around stations, and very light development further out. Suburban sprawl isn't impossible with rail transport - look up
Metro-land for instance - but will take very different forms. You'll likely have denser suburbs than OTL, some of them further out because commuter rail can manage higher speeds than a congested road. But you'll also have comparatively undeveloped areas closer into city centres, because they didn't get a rail service.
What you won't get to the same extent as OTL is 'ribbon' development, where homes and businesses are built along the length of rail lines. That's an artifact primarily of buses, and to a lesser extent of private cars. Rail-oriented development will be more akin to a 'string of pearls' along the rail lines, although local service buses radiating out from rail stations will bring in some ribbon development which may link up in areas.
With this development pattern, intercity rail is likely to be more successful, but only to a moderate extent. The geography of the US just doesn't allow for a country-spanning network to be economically viable, but regional ones are possible, and east of the Mississippi these may join up. Air travel will still be a big deal, but rail service between the main city centre interchange station the airport will be seen as essential - both for business and leisure travel.
You'll also find that circumferential travel is very difficult, because rail lines are built to connect suburbs to city centres. To get from one suburb to another nearby one, you'll either need to travel into the city centre and back out again, or else own a car. Which, because it isn't as essential, fewer people will. But, between the desire to make such journeys and the desire to travel outside the city, car ownership and usage will probably still be high. It is in most of Europe, after all, despite robust rail service. The difference is the extent to which they're used within cities.