In the Piers Anthony novel "On a Pale Horse", the protagonist is taught a lesson about empathy and perspective by being forced to experience the same scenario as a pedestrian, a bicyclist, and a driver.

Reading your comment and many others makes me think that the most "intractable" problem with shared transportation infrastructure isn't making it physically safe, it's getting people to treat other road users as human. Even a car-only road still has this problem.