Manual brakes replace pedal effort with pedal stroke. While a power brake setup may take 2 inches from released to full pressure, a manual brake setup might take 6 inches. And you just can't get enough pedal stroke to stop a fast, high horsepower car with manual brakes. Power brakes are the only way to get good stopping power. A lot of cars in the 50's and 60's didn't stop all that well. But, in the immortal words of Ettore Bugatti, "I want to GO, not stop!"
And if you don't think a manual steering car is a workout, try it sometime! It may be easier to turn than a power system when the engine is off, but not when the engine is on! A manual system is harder to turn AND more turns of the wheel!