Yes, the system developed as it did for a reason, some of the more obscure being: + entrenched rent-seekers controlling properties in cities (it's almost axiomatic) + centralized transportation systems being subject to political and labor capture-- the main purpose is not great customer service + red tape in urban areas for everything + market forces created last-resort poor quality housing in cities + the car vs transit battle is winner-take-all at a neighborhood level, and transit does not compete properly on a metro or regional level, nor is the park-and-ride system fully competitive + car-compatible density negates transit density + different ownership model for rolling stock leads to over-investment for cars and under-investment for transit (you buy the car you personally can afford and it sits idle while you ride the subway car your grandparents' generation was willing to pay for collectively )

And cheaper! A roundtrip 10 min bus ride into town costs my family £6. That's more expensive than driving in and parking for 3-4 hours.

I think you are right and this is one of my issues with busses in most American cities. Basically, it's just going to be viewed as a worse version of your car. You have to create a categorical change and that's best achieved with rail, biking, and walking which can't be replicated by cars or busses. This doesn't mean we shouldn't have bus routes or anything, that's not great either, but we need to break the habit of hopping on/in motor vehicles if we want to see change.

But also, we need to actually fund public transportation. In most states the amount of funding allocated toward non-car infrastructure amounts to a rounding error.

So what can be done?

Write to your representatives at your city, county, and state level. When your state's department of transportation issues surveys or maps for feedback make sure to give feedback! If there are other opportunities where your local leaders are engaging with the public just mention you'd like to see better transit and walking infrastructure to reduce cost for taxpayers and increase quality of life. Ask for a meeting. Ask for explanations. Ask questions and keep asking questions.