So it seems like they should be trying to amortize that cost by grouping cars together, both horizontally (side by side) and vertically (front to back).
So in other words, have a cluster of, say, 5 or 10 cars that cross the intersection together.
That can be done by adjusting the speed of cars well in advance of the intersection to group them, so it's not necessary to come to a stop as with stoplights.