Cities have actively made decisions to design cities around the car at the expense of every other mode of traffic. It's pretty unreasonable to expect that the status quo can't change.

In fact if you look at the Bay Area, the problems with transit are largely due to other sorts of dysfunction, not due to lack of funding. Los Angeles, OTOH, has been building out public transit in a coordinated way (far more successfully than the Bay Area has). IOW where there's a will there's a way.

That's more dense than Oslo, which has several major rail arteries and a light-rail/subway system, most of which was initially built at a point where Norway was still a relatively poor country. It's vastly more than e.g. Bergen, which has 280k people, a tram

It boils down to whether or not you're willing to actually plan for it and spend money on it.