I will reiterate....

If you're a tourist/visitor, don't rent/drive a car in Tokyo unless you're looking for an adventure and have lots of time to get lost.

If you're a resident, driving is almost always a lot faster/easier/more comfortable than public transportation if you can afford it. With the exception of a few places, parking is always incredibly easy.

I take public transport if it's quicker and it's not raining and it's not the sauna season. For me that works out to 1 or 2 train rides for every 1000 car rides.