The expensive part is buying new rightaways, a private company responsible for liabilities like trespassing, security, and runoff (all of which the highways get subsidized by the public)
If the US spent a small percent of what it does on highways it could reactivate tracks that have shutdown since the 50s, rail towns would rise again and be the central b rural hub for groceries again.
If the US replaced 1 lane of every 6+ lane interstate highway, as due for maintenance..., every major metro would have world class transit in less than a decade (you need 2 lines if you don't use modern safe switchingb at stations)
Everyone would live near a train station (or in larger urban areas, light rail that connects to the train stations). There would be a mostly-separate freight network with depots near every population center. Trucks could be used to get goods from the depot to the store. Some long-haul routes would be needed to serve remote rural communities, and some high-priority stuff like mail delivery.
How would we supply the supermarket, though? A rail line would be unfeasible.