> Transit buses are awful and expensive because they must pack the maximum riders per driver to economical and politically viable.
Source? Buses actually work very well in many places (and are much more economical and efficient than cars). The simplest way to make buses work well is to give them their own lanes; there's no reason a vehicle holding dozens of people should be held up behind single-occupancy vehicles.
Buses are the best blend of resource efficiency and cost efficiency in transportation, full stop. And that's today, no additional inventions necessary.