The best innovation often happens when working under constraints; often a drive for profit results in better service for everyone using the infrastructure. Of course this isn't the case 100% of the time, like your example of medicine, which is why I think that to get the best of both worlds you need a mix of government regulation with privatized capitalism. But I think it would be incorrect to dismiss the profit incentive entirely as being bad, and probably in the case of US infrastructure we would benefit from more privatization and not the other way around.
[1] http://money.cnn.com/2015/03/30/news/hong-kong-mtr-subway-pr... [2] http://www.newsweek.com/post-office-aint-broken-its-profit-s...
http://www.govexec.com/management/2016/02/usps-records-first...
Another is the issue of correlation/causation. Well-run systems may tend to be efficient in their use of monetary resources (almost by definition), but it's not clear that setting a for-profit goal will be a cure-all intervention that causes a system to be well-run.
It's also a big leap from setting profit goals to full-on privatization, which I'm skeptical of for several reasons. Private companies are often only pushed to be "good enough", better than the competition. A public transit system that is just barely better than a cab (say for daily work commute) is no good at all. Private companies tend to have short-term incentives, for instance, the CEO may get a bonus based on the current year's profit, which will be destroyed by investment in infrastructure. Companies care about maximizing revenue rather than welfare. Etc.
Transport for London (IMO the complete opposite of MTA: on the whole incredibly well run and generally well funded) has went from making an enormous operational loss to near break even in the last 15 years. If the trends hold it is projected to make a >£1bn operational profit per year by 2021.
NB I'm talking about operational expenditure not capital, which is funded from grants from govt, which currently stand at around £3bn per annum. It's possible to see how it could be entirely profit generating in a couple of decades though Inc capex. Assuming everyone doesn't leave due to brexit.
Most railways in Europe and North America were built for the profit of their investors, and made a profit for a long time.
Before that, so were some highways, the canals, and many bridges.
In Britain, the railways were bankrupted by WW2, and afterwards consolidated into a national company (British Rail).