Infrastructure rightly prioritises the most useful and most efficient modes of transportation, and gives less priority to that which is less useful and efficient. That's rational and correct, no need to change that.
Road space is currently unmetered. Parking space is also often unmetered or underpriced. Should it be the same price for everyone to drive 18-wheelers and RVs and cars and mopeds into the center of a city? Bicycles are the most efficient mode of transportation in terms of energy, except for the densest urban subways.
Cars are a local maximum of utility that doesn't require much coordination or planning. They took advantage of pre-existing public roads and then crowded out all other road users, and subsequent roads were simpler to design and plan for cars than for mixed use with other road users.
Cars are a local maximum of utility that doesn't require much coordination or planning. They took advantage of pre-existing public roads and then crowded out all other road users, and subsequent roads were simpler to design and plan for cars than for mixed use with other road users.