The safety problem isn't and never has been commercial vehicles, it has been that America has let the definition of commercial vehicle erode to the point that many Americans believe that exorbitantly sized commercial vehicles make decent residential vehicles.
The idea that most Americans live in some sort of farm is actually wrong. Over 80% of Americans live somewhere urban. And yes, trucks, deliveries, etc should not be allowed to drive in urban areas except at night and in the early morning: for traffic and safety.
This should be regulated in Manhattan as well as Des Moines, and even in cities like Houston where the interstate is used for local trips. Driving a truck? Take the detour that skips Houston entirely during the day.
The drivers who make me nervous tend to be in SUVs or lifted pickups/crossovers, followed by sports cars. IME people who pick a big car to feel safe tend to be poor drivers. I went from liking Volvos to ride in to being scared of them when I got a motorcycle.
This will protect them from the large, dangerous vehicles out there.
It starts to look like an arms race quite quickly.
Given that situation, it makes sense that families would want larger (safer) vehicles.
Most of America doesn't live in a 2-person highrise apartment.