Probably the biggest impediment to really improving efficiency is existing infrastructure. To do it right we will have to start from scratch.
What I am talking about is along this order:
1) Lighter vehicles where the vehicle to passenger weight ratio was a lot closer to 1 to 1 than the current 10 to 1 would REALLY help, but . . .
2) Lighter vehicles have to share the streets and highways with existing cars and trucks, at existing traffic speeds, so . . .
3) They require substantial horsepower to weight to accelerate with the above mentioned road denizens, and crash protection in the event they run into or are run over by the same, which all means increased weight.
What would work is if ALL cargo transport was confined to a separate transport system (rail e.g.) and existing roadways were reworked to accommodate light (probably electric powered) passenger transport. In so doing we would either have to destroy all existing road vehicles, or design the new system to prevent their entry.
Either would work, but the above is not a change we are likely to make until we must.