I think you guys have missed something...maybe about the last ten years or so.
The "us against them" mentality was a product of the professional model of policing. The professionial model developed, primarily in LA but also in other large, rapiud growth urban areas, in the 1950s to the 1980s. It was a response to rampant corruption and ineptitude seen in large east coast police departments. The police would avoid the direct community ties that were often seen in out East, and would have rigid, paramilitary structures, strictly enforced procedures and policies, and a high level of professionalism and accountability. This worked pretty well. The problem was that oftentimes, the distance effected the police's ability to effectively work in lower economic urban areas, particularly minority dominated ones, leading to long-standing feelings of racism on the part of those citizens.
As a response, many departments instituted "community policing" in the 80s and 90s. Community policing emphasized closer relationships with the community, working with the community to solve problems (instead of imposing them) and better communications, from the street level on up to the top. Community policing dealt with a lot of what people here seem to be whining about. The problem was, that community policing went too far, at times (familiarity breeds contempt). Community policing strategies are being modified, mostly to make other governmental entities do their jobs (like shutting down crack houses for health code violations and cleaning up the grafitti). In a lot of cities, the police departments are the most progressive agencies when it comes to getting anything done, and they get called about everything, anyway, because they are usually the only (or at least the most prominent) government agencies that are open 24 hours a day.
As for SWAT teams, they are necessary and needed. True mistake by these teams are rare, especially in light of the fact that in any medium sized city in this country, there are probably several SWAT operations each week, and they do not receive any media attention because, good or bad, the nature of crime in this country has changed to where such operations are routine. Yes, SWAT came about in the 1960s, and became prevalent in the 80s and 90s. And that is a good thing. When police departments did not have SWAT Teams, the number of officers killed was significantly higher. Better tactics and training for all police officers has lowered these numbers significantly. In the "old days" the first cop on the scene was expected to handle most incidents, and that worked a lot of the time. The times it did not, police officers and innocent members of the public got killed. SWAT addresses those kind of situations.