I've found myself wondering if Google will solve the capacity problems from New Jersey into Manhattan faster than the new rail tunnel(s) that may or may not be getting built; the existing tunnels are pretty full, but it looks like Google has figured out how to dramatically increase the capacity of the existing road tunnels.
But the other question is how parking will work out. Certainly adding lots of parking spaces in Manhattan will be expensive. What will happen if there is an argument that New Jersey income tax revenues can be maximized by maximizing the number of New Jersey residents who can commute to Manhattan, and that the way to accomplish this with the lowest infrastructure cost to taxpayers is to allow the cars to drive themselves back to New Jersey to park for the day?
The other thing the automated taxis should offer as an option is cars with multiple compartments, where if you wanted to get from one compartment to another you'd have to get out of the car. People who are impatient but don't care too much what their trip costs could request that they get one compartment of the car and it get routed so that they aren't delayed by other people in sharing the car, and then people who want cheap transportation and don't care so much how long it takes could book the other compartments. You could also have a hybrid option where the impatient would allow up to 5 minutes (or any number of minutes of the rider's choosing) delay to allow others to be picked up/dropped off, and there could be transfer points along major roads, and people wanting cheap travel could express a willingness to deal with N transfers. That could go a long way towards increasing the number of people in the average vehicle.