Yes, it will require urban planning. Personally, I’d prefer trains/subways to buses.
The future of mass transit should arrive within a decade or so as China finishes developing low-speed maglevs that travel around 100 mph. Oakland out 50 miles should become commutable.
For now, what’s the subway situation from Oakland to downtown San Francisco? Getting people to commute in that direction would be a good start. As well as getting companies to build in Oakland.