the notion that we basically just replaced horses with cars .... We’ve replaced horses and trams and walking and cycling - all of which were done a lot - with cars.

Fair point

we have pretty much gained nothing from cars.

I don't think that's true, though. Cars bring a lot of utility; even the opportunity to live further from the workplace is not 'no benefit'. After all, bicycles were hailed as the liberators of women, for much the same reason: ordinary women could have the freedom to travel further. I think what's happened is that every gain is an opportunity for benefit; but also an opportunity for the greedy and powerful (not to mention lazy, deceitful, foolish, or any combination of the above) to take advantage of other people (and themselves) through. So (for example) cars bring the opportunity to work further from your house; and now many people are forced into living further from their work because employers/infrastructure expect it to be possible. Cars make it much easier to visit far-away relatives for festivals; now Americans must line up every year on Reddit to moan about Thanksgiving politics.

I will agree with you it'd be better if we restructured most transport away from cars and that we have - in principle - the options for a good solution (trams, bicycles, better-arranged-cities, etc). Still, what would the American dream be, without driving to your gym every week so you can run on the treadmill for half an hour ;-p