You have paraphrased Dave's advise mostly incorrectly.
His baby steps are triage, and they focus on fixing the biggest problem first: the person's behavior. Completing the first few baby steps -- becoming debt-free except for your mortgage -- should take you 6 months to 2 years, depending on your income and how much debt you have. That amount of time is insignificant in the grand scheme of things, so it's not the end of the world to drive whatever car you can afford to pay cash for and to miss out on investing for that amount of time, given the huge upside at the end of it, which is to use your whole disposable income for building wealth. Not to mention that in the process of learning to budget and stop borrowing, people improve themselves in other ways as well and often end up with better paying jobs by the time they're done becoming debt free.
Dave doesn't advocate renting forever. He wants people to get into a mortgage and effectively "lock in their rent" since rents always go up. He just doesn't want the mortgage to become an anchor around your neck. It should be something you can comfortably afford so you don't end up foreclosing if you lose your job for a few months. It should be something you can realistically pay off well within your lifetime so you don't have to sell your house to retire. Plus, what if it doesn't appreciate like you think it should? That's called putting all your eggs in one basket.
Dave has no problem with $70k luxury cars -- for people who can afford them. If reliable transportation is all you need, he tells people daily to buy a $12k used Camry with cash. And, you should be saving the money ahead of time for when it comes time to replacing that Camry, so you can buy another car wihtout borrowing. This all comes after the 6-24 months of driving a clunker that could break down at any time, and after you've saved enough cash that you can fix the car if it does (which is "baby step" number 1 BTW).
The main thing you got right in your assessment is that he tells people not to go into debt for college. Dave is not telling people, "College isn't worth it, don't do it unless you can pay cash for it." He is telling them, "Get a degree in something marketable, don't spend out the wazoo for the name on the front gate, and pay for it as you go by doing your breadth requirements at JC and transferring to a state school."