http://sydneyferry.blogspot.com/2017/09/six-benefits-of-regu...
The Swiss are masters of this. I recently had a complicated 4-leg journey from Zurich airport, from a mainline InterCity train to a rack railway up a mountain, and every single transfer was timed at exactly 5 minutes.
In Japan there is a predefined minimum transfer time between each lines, so the timetable use that to coordinate departure (and if incoming train is late, then the designated connecting train will wait that predefined time for connecting passenger)
Swiss timetables are calculated so that trains make stops on a very consistent hourly, half hourly, or quarter hour cycle. Coordination points are at major hubs; every train shows up within the same five minute period, so one can walk down the stairs and head to a different platform to catch any possible number of trains that have stopped at the coordinated time.