when the vast majority of daily trips are into and out of that dense core, that defines the most economic routes for building transit. beltways/bypasses exist to relieve the already saturated surface roads of the core. you don't see the same thing with trains because it's not necessary. it sucks for the passenger to transfer between three or four different trains to get from EWR to flatbush, but the rail infrastructure has plenty of capacity to accommodate a few extra pax on that route.
I think it would be a lot nicer to have urban life/transit built around many smaller cores with everyone living much closer to work. but in aggregate, businesses want the largest hiring base, and people want the best jobs they can get in the area.