there's a difference between a road and a street, a road is meant for quick throughfare and streets are destinations.

what happens a lot especially in america is trying to do both at once, which results in a street that is incredibly stressful to try and enter/leave and is miserable to be near outside of a car, and yet doesn't allow traffic to flow smoothly and quickly.

These are commonly referred to as "stroads", and the solution is to decide whether you want a street or a road and design it as such. In dense areas this means you have to bite the sour apple and accept that not everything can be a dedicated throughfare, the best solution is a backbone network of throughfares with streets branching off.
In less dense areas you can have the best of both worlds by simply putting a street on the side of the road, with some greenery between them so people have somewhat of an enjoyable view, and then connect the streets to the road at either end.