The infill stations don't make much sense because they're also low density housing. The fundamental problem with mass transit in CA is the insane insistence to remain low density despite the overwhelming demand for housing. It's the sin that leads to all of the problems the state faces.
No, treating BART as a low-density transit system while granting them right of ways in some of the most dense areas of the country doesn't make much sense. 30th & Mission and 98th & San Leandro would've absolutely made sense while neither Millbrae nor SFO should've ever been built.