Only if you are driving a bus or a taxi.
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Oxford Street in London is pedestrianised and only buses, taxis and emergency vehicles are allowed to drive on it.
London didn't actually burn down, but a horrifing fire took over London, called the Fire of London. It took a long time to rebuild London after it.
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The nursery rhyme is about a medieval bridge which crossed the river Thames in London. At that time, the wooden bridge had houses and shops on it.
No, it survived the fire.