People found ways to not be bored in the millions of years before the invention of the automobile. The thrill of riding a horse. The thrill of running when you're fit.
Personally, I find driving to be the definition of boring. The distant, halcyon past is the brief decades (out of the entirety of human history) where we were able to live under the illusion that we could build a road system that would handle the burgeoning amount of traffic without gridlock.
I'll take you at your word regarding your examples of "thrills", although I would note that the horse is probably less impressed :-)
I'm not sure about your last point. Enormous strides have been made in designing road networks that are far more tolerant of heavy loads. But gridlock is also in some sense a social problem, and so a purely technological or algorithmic solution is perhaps unrealistic.
Personally, I find driving to be the definition of boring. The distant, halcyon past is the brief decades (out of the entirety of human history) where we were able to live under the illusion that we could build a road system that would handle the burgeoning amount of traffic without gridlock.