glTF is really single-asset only: that's not what USD is - USD is designed for entire scenes with scene graph hierarchy, and layers of overrides / additions (it's essentially a mini-evaluation engine internally). It's very powerful, but also quite complicated, and not just a file format.
USD started in the very complicated CG/VFX world where this type of complexity and flexibility is needed, however, Apple (and others) have been pushing it into other realms (VR, mobile, .usdz).