This is better solved by leveraging more traditional forms of transportation. Making biking, walking, and various forms of transit easier, safer, and more effective. Cars, whether self-driving or not, are in direct opposition to this.
I'm sure they could be useful to folks that have the specific use-case for it, but the vast vast majority of trips in a person's day-to-day are better solved by robust multi-modal options and public transit. The benefit there is that less drivers means that traffic is actually better for everyone.
I actually see this as a benefit! Cars take up a lot of space and so now there exists massive right of ways that can be used and modified for other transit modes. Take a lane away from personal cars and dedicate it to buses so they can run faster and avoid traffic. Remove some street parking spots and create a protected bike lane or a street market or something else. The extra space can be a huge boon. It’s pavement, basically a blank canvas imo.