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You apply the same concepts used for car traffic management to public transit. You have local access, collectors, arteries, and controlled access express/freeways. The frequency and speed of service goes up with each level, while number of access points decreases.
The problem with public transit arises when you expect it to be single modal- like most people in America, since they're used to single-modal cars.
Single modal public transit works when density is very high and you can expect services to be within pedestrian distances of half a mile or so of any public transit station (access point). But the lower density of American cities breaks those systems and makes them slow and unusable since the number of access points for pedestrian walking distance to most services needs to be insanely high, leaving the entire network underserved and underutilized. You have to artificially increase density by "funneling" larger areas into a smaller public transit network to make them work efficiently.
Things like busses and trams work for collector/arterial tasks, while direct passenger rail works for the rapid point to point expressway.
What you need to do is then promote self driven transport on the lower neighborhood and collector levels, while supporting public transit at the artery/expressway levels. An ideal way for this in my mind would be promoting advanced bicycle/moped networks on the local access level that feed into collector roads, providing distances of 1-4miles traveled from a home to the first arterial bus or tramway. The busses that run on the arterial level would need to be redesigned to accommodate users bringing their bikes or mopeds with them to use on the other end of their journey, which really expands the reach of the network. They then have to transfer between types a limited number of times while in network.
As long as you can limit a journey to 2-3 mode transfers, and make those transfers as seamless ad possible, it can be made a lot more efficient and user friendly. Providing users the ability to retain advanced mobility (bikes/mopeds) on both ends of the public transport network also eliminates a lot of the range anxiety car-centric people may otherwise feel when getting on public transit.
I personally commute entirely by car but that's because it is a long, largely rural drive with no density to support any kind of public transit. My specific case is unusual though, and if I did live in a city, I would be okay with the above system for a majority of my commuting. I would still own a car for long or special trips, of course. I like it too much.