By definition, if the streets feel too small, then the car you're driving is too big.
The Juke, while smaller in length than those cars, is wider than both the Prius (by a longshot) and the Golf. And ultimately it's width that matters for the feeling of street size.
Also, by European standards the Golf or the Prius isn't a tiny car, it's more or less average (though that's changing). Small would be a Polo, a Citroen C1, a Mercedes B-Class, etc...