The simplest thing is to say there should be a government run, comprehensive healthcare plan for all residents of the United States. How to bring this about is relatively clear. Examine the systems which other countries that have coverage for all have crafted over time. Learn how they pay for it.
Of course there might be limitations; however, those should relate towards things such as, getting third and fourth opinions after a diagnosis. (a second opinion should be part of the coverage). There'd likely be other limits, we need to see how other nations do this.
One way to implement the plan would be to bring the insurance
companies into the fold. These are people who know a bit more than the average person or the average government agent. There are also insurance departments for most states. These departments have experience in determining if an insurer unjustly refused to issue payment for a medical matter.
As to cost, people who currently have health insurance are already paying. Some do so directly to a company, others through a wage deduction or by receiving a lower salary.
In addition, according to income, an annual deduction (similar to what many companies and Medicare have). Plus - and here's where the protestations enter - a percentage of cost would not be covered. Again, based on income, with the top tier paying no more than 20% of cost or a set dollar amount.
Arguments? There will be several, dozens upon dozens. Present the facts to the people and find persuasive ways to help them understand the benefits which will outweigh the downside or perceived downside.