The solution to broken infrastructure isn't to double down. Nobody wants your baby and in-law on the back of your bike or for you to walk 2 miles per day, that isn't the criticism of cars. The criticism is that cars are more expensive and more dangerous than public transportation solutions, period.
Ideally, we develop towards a both/and solution in the future. We have cars, bus systems, and bike infrastructure which can do last-mile transportation, then we have high-speed rail between major cities. This reduces upkeep cost and makes travel safer for everyone.
This also isn't saying to rip everything up to implement this system, but we already have crumbling infrastructure in the US due to lack of federal and state funding which will need to be replaced. As we expand and maintain our infrastructure, we can start to implement better, safer ideas for transportation, rather than doubling down on what is convenient yet unsustainable.