Yes, the only way out is to find different intrinsic properties of the materials. That has been the thrust of R&D into automotive batteries. Lead acid is in water which limits the potential to 2.2v. The Lithium ion is in a solvent with no water present so has a potential of 3.7v.That is always an issue when constrained by the laws of physics as per our current understanding. If you think that a lead acid cell can only deliver around 2.2 volts, no matter how big you make it then it starts to make you understand the challenges. We want a lot of power but in a small package, much easier if you used a trailer for the power pack, can be exchanged very easily rather than recharged and a lot more miles on a pack.
This chart shows how different chemistries have enabled higher energy density to be developed. There are several practical reason that make Lead acid cost effective for ICE vehricles. However for EVs energy density is important for range.
One confusion is energy density is sometimes given by weight (gravemetric )where 200wh/kg is good, or by volume where 400Wh/l is good. Li-ion is not that dense. So some companies quote one and some another.
The past 20 years has seen a huge increase in energy density. This graphic from Tesla is typical, energy density has doubled since 2010 and most roadmaps in EU and US have it doubling again as new technologies includng solid state batteries are developed.
This graphic shows the potential for new technologies. Lithium sulphur and solid state being two potential winners. The Li air and Zn air are very much research batteries but of interest to aviation as they are lighter on take off and scavenge air during flight. Energy density today is about 1/8 of the limits due to the physics of Lithium batteries