Cars fueled by hydrogen, like the Toyota Mirai and Hyundai Nexo, are already here, and fuel-cell technology is actively evolving and benefiting from billions of dollars in federal research and infrastructure funding. So then, why are hydrogen cars virtually non-existent on U.S. roads today? What happened?

https://www.popsci.com/science/hydrogen-cars/

The TLDR:
We have an existing electrical infrastructure for EVs, but only about 50 places for hydrogen cars to refuel. However heavy transport needs only a few refueling locations, which is much easier to implement, and the longer range is an advantage.