San Francisco does the former without the latter. BART is an embarrassment when compared with Manhattan's subway:
* Manhattan subway map: https://i.imgur.com/jOJO2C3.jpg
* Bay Area subway map: https://i.imgur.com/9vKbKoq.gif
* Manhattan compared to SF: https://i.imgur.com/nAvcoS3.jpg - the entire first subway map fits in the white space of this one
Price is the big argument against BART... because we're thinking so small. More ambitious expansion benefits from economies of scale. If we could coordinate projects in multiple metropolitan areas, standardizing technology (boring, rails, power, etc), prices would drop even further... that's where Musk's Boring Company comes into play.