In other words: there's a profit motive, so people get something really good for their money.
Public transport is frequently a monopoly or semi-monopoly, and there is power available (the people running the public transport also get to set rules for drivers), and exercising power is much, much easier than competing in a market.
Now you say there are rules to follow on these roads, with enforcement, meaning someone has power over you the entire time? Yikes.
Mandatory parking minimums, high speed limits, car lanes without bus lanes or bike lanes, tearing down neighborhoods to build interchanges and highways...
Instead, it's actively make transit better be reallocating road funds... Add buses or light rail or dedicated/separated bike lanes instead of brainlessly adding traffic lanes. Every bike added to that bike lane is one less car (very roughly).
Additionally, tax car infrastructure appropriately. Free road-side parking is not an entitlement. Reduce parking minimums in redevelopment/new development and let the market determine the supply of spaces. A good example - it's increasingly common for apartments in DC to charge extra for a parking space.
Most of the above applies to urban areas as well as moderately dense suburban zones.
Large cities can take additional steps - no car zones (common in Italian towns), congestion pricing (London, NYC, and others already do this), and changes to road design to better accommodate pedestrians (plenty of YT videos about various plans to do this).
- reallocating road funds (away from driving and toward busses/rail/bikes)
- tax car infrastructure appropriately, presumably higher
- reduce parking minimums
Not that I'm against these, but they will surely make driving worse.
What makes driving worse is the presence of more cars. This can be partially mitigated by piling money into road infrastructure, but infrastructure is a band-aid on a problem created by more people choosing to drive.
What makes driving better is the presence of fewer cars. There's really only one way to reduce the number of cars on the road: build good alternatives to driving. If you love driving, you should be the strongest champion of public transport investment.
Here's a good summary of one case of a small town dealing with absurd parking regulations... https://www.strongtowns.org/journal/2017-11-22-how-parking-m...
And just to add my own recent anecdote... we visited southern Italy (Puglia) last month. Most of the towns have zero traffic* zones (ZTL zones) in the historic centers. In all of them, there were either ample metered street spots just outside the ZTL or small pay lots a short walk away. As far as I could tell, as a tourist, it worked well - the downtowns were vibrant with lots of foot traffic.
* ZTLs allow local traffic and handicapped transport within certain guidelines.