The problem isn't the efficiency of the engine, but the efficiency of storing energy. Gasoline and diesel are very good at that, and are easily replenished. If your concern is the complexity of all the moving parts, rotary engines and 2-stroke engines are significantly simpler, but ultimately 4 stroke reciprocating engines make more sense.

Especially the following quote about halfway down in the infographic:

"Engines get hot - the cooling system of a car going down the freeway dissipates enough heat to keep two average-sized homes warm!"

Think about that for a while. ICE's just have a thermal efficiency of about 30%, the rest becomes heat.