So just being someone that got tired of the commute and moved to a dense European city that's a 2000 years old, there are several assumptions you make I can't agree with.
1. I've absolutely been menaced on the road several times in the USA, you have to share the road with that 1 of 100 idiot too, (in a fast multiton hunk of metal). You've discounted this in your head but treat that same risk on a bus or whatever as impossible to cope with. I get it, everyone has their preference but you're not being equitable in the comparison. 2. Tiny dense European cities suck to drive and park in, but tend to be rather pleasurable on foot as all the services are accessible there, not wallkign through a giant parking lot 3. Driving a car is crazy dangerous by the numbers. Again everyone has their preference and your entitled to yours but again not actually an equitable comparison. 4. You seem to have a high minded view of driving I did not really encounter in 24 years of driving in US cities.
In the end, you're entitled to your preferences and I encourage you to continue driving but please be fair in your comparisons and leave the rest of us to ours.