"It's regressive and has an undue effect on the poor" and "It's moderately effective" are not mutually exclusive. That was a major reason public transit bounced back so fast in the Lower Mainland of BC, Canada - because driving is decidedly not cheap. Moreover, high gas prices are something I endorse, loudly and often, because it subsidises transit, and how much more expensive it makes the biggest (most dangerous to pedestrians) vehicles.
Still need to drive, and don't want to pay an arm and a leg? Skip the Silverado, get a hatchback or moderately-sized SUV or van. Need to haul your boat (or 40-foot camper instead of a tent)? Sounds like an expensive hobby - and anyone who's owned a boat can attest to that.
> The actual answer is to build a comprehensive mass transit system that makes driving unnecessary for most people
Car-centric design makes building such a system hard in many ways. You have to tackle both side of the equation at once - encourage public transport and discourage cars. Otherways you build it and nobody uses it.