That would be nice, but it would also require infrastructure investment on a massive scale before it could even begin. Self-driving cars as currently conceived function on existing infrastructure with zero changes.
I live in silicon valley, and the traffic isn't SF or LA bad yet, but it's pretty bad, and it's also clear that the voters around here aren't prepared to vote in usefu public transit; (one could make the argument that VTA is proof that voters are prepared to pay for public transit but aren't willing to allow useful public transit)
The upshot is that most people outside of NYC don't think automotive transportation is broken. Most people prefer automotive transportation. I personally am with you; driving when you could be on transit is nuts, but I'm clearly in the minority.