Maybe. I'd have to ask why we don't see more of this today. If you're looking at services transporting multiple passengers in a car or even minibus, self-driving isn't as important because the driver cost is amortized across multiple passengers.

That said, I agree that habits can change. Car-pooling was probably more common at one point than it is now. On the other hand, a lot of people seem to favor Uber because they don't want to deal with public transit even when it's available.