MacCarthy transformed them into academic jargon in fact. Knowing that the words originated in the IBM 704 idiosyncrasies not found in other machines, he used them anyway in papers about symbolic computation.
Lisp pairs are flexible objects that can be coupled together into shapes and uses that are not lists. car and cdr can mean first and rest, and ANSI Common Lisp [1994] has those synonyms, but there are uses of cons cells where first and rest do not make sense.
MacCarthy must have realized that words that do not invoke any connotations are good for the elements of a flexible pair structure. Choices like first/rest, left/right, top/bottom and others are saddled with semantics that don't match every use.
Programs that need a pair structure in which the two pieces have very specific roles can provide their own synonyms, if their authors feel it makes code more readable.
I seem to recall that Knuth, in TAOCP, at one point, calls the pointers of a binary tree node ALINK and BLINK.