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For non-disastrous problems, we should wait until a problem manifests before implementing a solution and paying the costs of its tradeoffs. However, it would be wise to theorise about solutions so that we have time to design cheap ones.

Wait for a problem to manifest and then there will be huge backlash against fixing it because of how expensive the change will be because business models were build and scaled using the old rules.

Agreed, it is quite possible that an influx of "steady state" (compared to human piloted) vehicles for humans to follow around will improve traffic conditions overall. A large component of traffic is the "accordion effect".

The accordion effect applies to highway traffic, though. The study discusses central cities that have (for good reason) expensive parking.

A steady stream of moving cars is not appropriate for an urban center, as they would form a barrier to walking, cycling, scooting which is apparently a thing now, etc.