Very true. Well, the Bushmaster prototype could probably be put on the Bradley in place of the Bushmaster that's already there. As for smart grenades, I don't think there's an obvious place to put one on a Bradley, but some versions of the Abrams TUSK included a CROWS remote weapons system with an HMG, maybe you could replace the HMG with the grenade launcher?

There's definitely a need for armored vehicles better suited to urban combat. Maybe the Army's Armored Multi-Purpose Vehicle program will provide something. I don't know much about how vehicle armor works, but maybe there's room for optimization? I mean, it's not like the enemy here is firing APFSDS rounds, or using advanced ATGMs. It's all IEDs and RPGs at close range. I know there's stuff like having a V-shaped hull improves performance against mines, and slat and cage armor to deal with explosively formed penetrator type weapons, but I wonder if there's other techniques that can produce a survivable vehicle without needing a full, 60+ ton tank

Yup. EFPs are no joke.