It it incorrect to state that voters don't have a choice. The barriers are high to make radical change at the Federal level, sure, but that doesn't mean that it cannot be done. One of the biggest problems is disenfranchisement and disengagement. People feel like they cannot make any change so they believe that the system is broken, but for all of the talk about politics, very few people actually vote in all of the possible elections.

Here's an example of US voting in action...

The 2022 Dallas County elections covered a population of about 2.8 million residents in a large urban area, yet voter turnout was only 218,000 residents (7.8% of the population).
The county level of government manages a significant part of daily life for residents (e.g. police, utilities, public education, roads) yet the resident population seems disinterested with guiding local government. If you look at the election records, some roles voted into power are not even contested.
https://www.dallascountyvotes.org/election-results-and-maps/election-results/historical-election-results/#Election

If one wanted to run for office, the requirements at county levels are fairly simple. Fill in some forms, be a resident in the country for 6 months (12 months in the state), and you might need to arrange for 25 people to sign a petition for your nomination. That's it. You don't need to be a Democrat or a Republican - you just need the nomination.
https://www.sos.state.tx.us/elections/candidates/guide/2022/qualifications2022.shtml

And if you need more convincing about how easy it could be to make a change in local politics, meet the animal opponents: https://www.insider.com/dog-mayors-of-america-2019-7