It is possible that a self-driving car could still give you personal autonomy. Although you would lose direct mechanical control over the car, it is still technically possible to implement a self-driving car that always goes exactly where the occupant tells it to, without ever phoning home. Of course, none of the companies making self-driving cars actually want that, and most of the people buying them either don't care or don't realise, so it's probably not going to happen.