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There is a lot that can be done to improve the experience but don't think that you will have ever such an comfy experience like in an actually car where it stand right outside of your home and brings you preferably right into the car park of your company.
It will always be paired with physical effort (going to the station, standing in the train, being dropped off just somewhere near to the station)
and mental effort
(having body contact to strangers, having the feeling that you will run out of air, having the feeling that the walls are comming closer...)
but that is the reason why it's so efficient. 200 people in one train wagon ist more efficient than 100 people. If you keep people standing then the train can pack up more people -> less long train needed -> smaller train stations possible
Modern citys are growing and growing and to manage those masses of people we have to accept that transport and living has to look like industrial livestock farming.
If there is no air conditioning we also save some CO2. That's a good thing!
