car and cdr are mnemonics related to the particular instruction set of the first computer on which Lisp happened to be implemented, which is great for people with a background with system programming on that system, but not so good for anyone else.
They're entrenched enough in the language that they are worth changing unless you are intentionally building a new Lisp-like language from scratch with some other main motivation and the change is just a side issue -- and it is clear that having something that doesn't imply list semantics for cons cells like first/rest does is good -- but car/cdr aren't a particularly good pair.
If I tried to explain deeper, Lisp focus on recursion over cons-lists was so foreign to the mainstream paradigms, that car/cdr, as most used operations, became symbolic axioms in my mind.
[1] which goes all in on the intuitive, human, pragmatic side of things, throwing away some old lisp idioms.