And IIRC some people honestly can't afford the time (3+ hours from what I understand) and miss out on the vote although they want to go

And some choose not to go because in a caucas you literally group together in the area designated for your chosen candidate... if you want your vote to be private you're s-o-l.

caucuses leave a huge majority out of the process.

Of caucuses. I can't imagine anyone preferring they stick around.