The Boring Company has attempted to develop tunnel boring technology which theoretically could someday allow for cheaper expansion of all subway and light rail systems. Although in practice they haven't accomplished much and their existing projects aren't even used for rail transit.
https://www.boringcompany.com/
There are also several eVTOL startups aiming to improve quality of life through rapid point-to-point transportation. But I doubt they'll succeed on any widespread basis due to battery and noise limitations.
the real problem is thinking they are different or that they need to innovate. Trains are common and they need not innovation but minor improvements over time.
If you had to buy a special car to be allowed to drive on Bay Area roads because they weren't the same as the roads in Chicago or Boston then a Honda Civic would cost $1M.
then a Honda Civic would cost $1M.
For $1M you could build a single San Francisco Cable Car. Plus it's built locally.