The urban solid waste (USW) emanating from the increasing urbanisation calls for concern. Integrating cart pushers into the private sector participation (PSP) may bridge the lacuna in sub-urban planning and PSP truck inefficiencies, especially in developing countries. There is a paucity of studies concerning cart pushers’ role in sub-urban and issues hindering them from achieving Sustainable Development Goals (1 and 11) in developing countries. Thus, the study seeks to appraise cart pushers’ role in Nigeria’s sub- and urban areas, investigate their challenges, and propose measures to improve the achievement of the Goals by integrating them into PSP waste management systems. The researchers utilised a qualitative approach using face-to-face interviews and observation. The study covered seven of Nigeria’s major cities, including Lagos, Kano, and Abuja. Forty semi-structured interviews were conducted. The participants include selected waste managers, NGOs in waste-related matters, cart pushers, legislators, households, environment and housing experts, and solid waste government agencies/regulators. The researchers adopted a thematic approach to analyse the collected data and presented it in a theme pattern. Findings reveal that despite the significance of cart pushers to the three pillars of sustainable development, including stimulating support for potential employment creation and sustainable cities and communities in Nigeria, they face challenges in their daily operation. The study proposed a revised USWM policy, where the informal waste sector should be embraced and recognised with specific rules and regulations. This is germane to improve achieving SDGs 1 and 11. This study holds significant implications for USWM policymakers and other stakeholders in embracing and integrating cart pushers into the formal waste collection process supported by statutory regulations to enhance practice. Also, this concept will increase employment opportunities and improve achieving Goals 1 and 11 in Nigeria.