The joke is on you. There are places where it already is easier than driving. What do such places have in common? There are so many people that having everyone drive is literally impossible to accommodate. You wouldn't drive in Manhattan, Tokyo, or Seoul. It literally makes absolutely no sense to. In these cities, public transit is faster and way more convenient.
Smaller cities can replicate this effect by just... not outrageously favouring car infrastructure like they do today in North America. That doesn't mean exclusively making driving worse, it means making public transit better at the same time with the freed up funding. And the freed up money is a lot, car infrastructure is super expensive. More routes with more stops at higher frequencies are made possible because of higher ridership, which increases convenience and makes it more likely you will get almost exactly from your origin to your destination.
But the American brain cannot conceive of this. "Communist transportation" fucking lmao. What if we made cities more liveable for humans, not for cars? Nah we can't do that that's communism.