That's a good start but if you're old or with multiple young children it requires careful planning. I drive into the city with my family rather than trying to remember exactly which stations I won't be trapped in.

That sounds stressful. Just an FYI for your next trip, every metro map has a little symbol indicating whether a station has an elevator.

Babybjörn or similar carrier and a backpack for accoutrements is imo often superior to a stroller once your young one can sit up.

I agree but if you have 3 under 5 one of them is bound to get tired and spontaneously turn to jello

No reason to avoid adding to the scope and complexity of that planning, then?