It’s an art art AND a science. You gotta use the tools at your disposal to compose the shot you are imagining. A 70-200mm seems a little big for street photography, but your example of a bus driver at an intersection is intriguing, especially zoomed in from a distance with lots of heads in the immediate foreground.
Not the most inconspicuous lens to use on the street either. Keep that in mind.
I have a Manfrotto Compact Action tripod with a pistol grip that works well with smaller lenses.
The Manfrotto BeFree is excellent, but with a large head.
I have a Joby Advanced Compact that I was NOT impressed with at all… Stay away.