But unfortunately most cities are nowhere near the size and prosperity of Tokyo.
Then that's not a private entity, that's a government funded contractor, with the government shelling out the money with no accountability.
As a currently popular example, most of the contracts around SLS, with Boeing and other companies, are like this. They consistently mess up, have quality and speed issues and overrun costs, and the government never exercises the option to cut their profit share, even when the overruns reach several times the original agreed upon cost.
Given the massive public interest, there is probably at least an order of magnitude more oversight of public offices than there is for private companies.
In the end it’s the same challenge that every team, department, company has to solve: how to have people that care about their job?
Here my impression is that that’s often not the case, leading to the effects you described.
Given the often severely reduced pay in public jobs, compared with industry, I don’t find that overly surprising, you get what you pay for.
I would not describe it as “infinitely inefficient”.