Are there alternatives to the individual mandate that accomplish the same goals without engendering so much political turmoil?

Could policymakers have designed an incentive system that would be as effective as a mandate? What are the pros and cons of using a mandate versus an incentive? Can you think of incentives to encourage enrollment that have occurred in other parts of the healthcare system? If you were President Biden, would you support reinstating the individual mandate penalty? Do you think the benefits would be worth the political risks?