I was skeptical too the first time I read this kind of argument. I ran the numbers for my case, which was sitting around the median (commute duration) or significantly better than the median (household income, car cost) for relevant numbers, for my car-dependent middling-costs US city, and it was still roughly break-even without even factoring in not being able to make commutes double as exercise time.
I had to have a car. My life would have fallen apart without it, that's how big a benefit it apparently was. Yet if I actually examined what was going on, it wasn't providing any real benefit to me at all, just negating harm done by designing my city around cars. That's how the numbers worked out, much to my surprise. For most residents of that city it was worse, the city being designed for cars was making their lives worse.
Denser, less car-centric areas are more economically productive than less dense areas. Car infrastructure prevents density. So I would argue that, at least in some cases, cars decrease economic efficiency
The development of cities caused by unrestricted, broad private car ownership without lots of careful coordination on that development, is in the reverse situation: it's fairly hard to argue it's net-beneficial, because it's so incredibly expensive in all-told money, time(!), liberty(!!), and, if we'll allow consideration of such things in a basically-economic analysis, pleasantness of environments for humans to exist in.