It is unrealistic to expect pedestrians and bicyclists to avoid automobiles by yielding to them.
EDIT: spelling; more spelling
I chose where to live because of a desire to be able to commute easily - the bus is 10 minutes, walking is about 25 - but I paid for it, both literally and figuratively.
And if ridership increases enough, then bus commute times will be reduced a great deal.
Could we just use existing roads, and try to replace every 30 cars on the road with a bus?
Just because you can raze entire cities, displace their populations, and embark on "clean slate" urban planning projects doesn't mean you should. That's the civil engineering equivalent of rewriting the entire codebase from scratch.
And yet, "refactoring" is definitely a real thing in software engineering and is not uncommon, for good reason: many times you really do need to throw everything out and start from scratch.
Don't build new roads to the core, maybe even take out, restrict, or slap huge tolls on the existing roads, and you'll keep people from wanting to commute in by car. Also remove rules requiring parking spaces, and even encourage replacing parking lots with buildings or parks or anything else, to make car driving the most miserable experience it can possibly be
There's lots a government can do to make people stop driving cars so much, and stop moving out to the suburbs. There just isn't political will (in America) to do so.
It is hard, but it's mostly hard due to a population of motorists who have confused the privileges granted to them by the state with rights.
It makes driving pretty stressful because it makes people much less predictable. When I commuted to Berkeley I would often joke/not joke that Berkeley pedestrians were trying to make me kill them with my car.
But a different weird thing is that being a pedestrian in Berkeley turns you into one of those people who is trying to die by car. I was more cautious than average (read: acting like a normal pedestrian somewhere else), and it was annoying and maybe dangerous for everyone else.
That may not seem clear, but it's analogous to someone being "nice" at a 4-way stop and letting everyone else go even if it's your turn. It's not "nice," because it delays and confuses everyone who now has to cautiously navigate a potentially dangerous situation instead of just following a simple procedure.
Similarly, cars stop for people in Berkeley. That's how it goes. If you act like they don't, then you get awkward standoffs between people and cars each not trusting the other to go first, all while traffic piles up behind the cars, and other pedestrians are now interleaving in between the cars in the jam. If you're on foot, you should just step out into road and cross it, after a perfunctory check, otherwise you're gumming up the works.
I don't like it, on either side, but it's not possible to unilaterally do better. You just have to go with it.
Especially in a pedestrian-heavy center where walking should be (and thankfully is!) the norm like in Berkeley.