We need more layers below doctors that can very effectively treat typical healthcare conditions. We need more NPs and PAs. Perhaps more doctors too - if we can lower the rigor and regulation for family doctors. Make it easier to become one - preferably without losing one’s shirt.
An analogy to healthcare today would be to only allow someone to code once they reach Staff Eng (MD) skill level. Most of them spend the majority of their time fixing bugs that a Jr. Eng (PA in training?) could fix with guidance, or a SE 3/4 (PA/NP) could fix on their own.
So, no - filling the work with Staff+ Eng (MD+) is not the most optimal or cost effective way of dealing with this.
Staff (pun) aside, there’s also the whole drug price gouging situation. I don’t know how will we fix that.
Competition does nothing to reduce isolated under-patent drug prices because it's not supposed to.
Competition does nothing to reduce one of a couple of specific generic drug prices like insulin and epinephrine because of some very, very stupid FDA policies that make it like they're under patent without any of the drawback of the patent actually expiring.
Competition is incredibly good at bringing down the prices of generic drugs, competing separate under-patent drugs like depression treatments, and things you do mostly pay for yourself like glasses.
Re: doctors, we don't need less-skilled doctors, we need less-debted doctors so doctors are less likely to seek high pay despite less fulfillment. We currently require a four-year degree in literally anything before you can start medical school; Ireland does not and just pads med school with a single extra year for GE, and their doctors are about as good as ours. Competition also doesn't work when it would drive your prices below cost, and medical school debt makes it effectively like that.
Recouping R&D costs has been disproven time and again. Medical companies spend far more on average on marketing (and lobbying) than on actual R&D.
All other evidence I’ve heard of points to the USA being the only major country without public healthcare and price controls in place, but maybe you can blow my mind with facts.