re: Why can’t there just be penalty kicks at end of regulation if there’s a draw?

Replies seem focused on teams scraping out a tie, but the more powerful example for me is when two great teams play to a draw, with neither being lucky or happy to get it.
In that case, a draw is the correct result and forcing a winner with an almost arbitrary shootout would represent essentially a lie.
At least in football, the whole defense and offense are vying against each other in overtime, so it’s still the same game. A shootout isn’t the same game and should only be resorted to when absolutely necessary.