sure He did...I will give you the keys to the kingdom of Heaven...what you shall bind on earth will be bound in Heaven, what you shall loose on earth will be loosed in heaven.....protecting the decisions of the Catholic Church from error....as for Mary, Hail, FULL OF GRACE, blessed art thou among women......kind of sounds like the Hail Mary prayer Catholics faithfully say.
Don't come along after 1,600 or so years and try to change Christianity, didn't work then, doesn't work now.
Mary’s cousin said that, not Jesus, and in Mary’s own prayer in Luke she admits she needs a savior. sinless people don’t need saving or a savior.
and describing the authority given to men does not prove papal infallibility.
you seem to forget peter was harshly rebuked by paul for sliding back into legalism, apparently not an infallible first pope.