Kruskal-Szeres coordinates indeed get rid of the wonky coordinate stuff at the event horizon, but if you look at the corresponding diagrams, you'll just end up with the same confusion, because the singularity is still a point (or rather surface) in the future instead of a point in space. The issue is that these diagrams are for eternal, static black holes, which cause diagrams to have these weirdly stretched infinite regions that are quite useful for understanding details of the math, but are highly confusing to laypeople. In fact these diagrams make it look like you'll always fall into the black hole at t=infinity, no matter how far you are away, when in reality you could orbit a static black hole pretty close for eternity.

If you really want to get a picture of what is happening, you can look at Eddington-Finkelstein coordinates. In particular at a light cone field diagram around a collapsing shell of matter that turns into a black hole. Then this whole stuff suddenly makes sense without even going into the math. You don't just see how an event horizon can form out of nothing, you also see how gravity starts to bend your causal forward light cone (i.e. all points in spacetime with events that you could interact with in the future) inward in such a way that you will necessarily always fall closer to the center of the mass once you pass a certain line (aka the event horizon). No need to deal with those weird infinities or points in time suddenly lying on a different axis.

The great Roger Penrose (the same guy who also came up with some of the most confusing diagrams) published a beautiful, simple overview of exactly this stuff in Scientific American: https://www.wkbpic.com/wkbx/SA/1972/1972-05-01.pdf (starting on page 38)

Still one of the best things you can read if you don't just want the math.