you don’t need to replace anything, the roads are already there. and if you wanna go somewhere super specific, just walk, keep in mind that if transport is more invested into, it will barely be different from car travel. the mild convenience created by cars isn’t worth the clutter that 10 times the volume of automobiles will create. also parking is already a problem now.
The problem isn’t the roads, but needing to create a route that touches every single road. Public transportation can’t really do customization, it’s a one size fits all deal.
My city has a door-2-door system of minibuses that are a bit like the missing link between taxis and buses. They pick you up from wherever you are and take you to wherever you’re going, they just pick up other people on the way too. It’s generally marketed towards the disabled/elderly, but I don’t see why it couldn’t be scaled up and be marketed as either a bus+ or a taxi lite.