I think there are two contradictory conditions in this. The reality is that just because it saves lives doesn't mean it should be free. The US is the only country in the world that spends a billion dollars to develop a drug for a disease that helps 1000 people. It is kind of amazing, but ultimately economically terrible: half a billion can save a lot more than 1000.
We have to bear the cost of accepting that lives are not worth infinite, and that its not okay to spend irrationally to save one.
That said, the US has deep issues in its pharma, like extreme regulatory restrictions and importation restrictions that can be tear down overnight and would drop drug prices to the floor very quickly.