Sure, but you also can't transmit HIV just by being in the same room.
/joke
[] https://www.independent.co.uk/news/world/americas/us-politic...
While your points about the obscene cost of Truvada are spot on, your point about US incomes is not.
For 2019 the median US income was $36,000 [1] (not ~$20,000). The median US full-time income was around $52,000 [2]. The median family income was $86,011 [3] and the median household income was $68,703 [4].
[1] https://fred.stlouisfed.org/series/MEPAINUSA672N
[2] https://www.census.gov/library/publications/2020/demo/p60-27...