Do in-tank fuel pumps give any warning of impending failure/

The in tank pump would not be a problem to change if an access port would be built in. A few cars have a "door" where you remove the rear seat and there is the access point. Trucks could have a similar access point in the bed.
The problem would be the "door" would add cost and the cost would be passed to the consumer and a lot of consumers simply do not care about ease of maintenance because they do not service their own equipment.