However, changing transportation infrastructure is a chicken and egg problem.
People get upset if you take away their parking spaces and build densely when efficient public transport doesn't exist yet and they still need to own a car.
Yet building efficient public transport is at least a decade-long endeavor and requires either buying out or leveraging eminent domain to carve out space for the necessary infrastructure.
Local and state officials aren't going to stick their heads out to support this unless voters will politically reward them for starting a project, but probably not being around to see it finished.
If you want a regime that can efficiently bulldoze its way to the public transit and cheaply, then one way is to copy China, give power to governments to 'strongly encourage' the sale of any rights of way needed, don't open it up to public review and leave it completely in the hands of more-or-less capable technocrats. Is that a price you're willing to pay?
[1] https://www.statista.com/statistics/183475/united-states-pop...