This is a terrifying idea. Most of the US -- and its cities -- is already designed around the car over the people which make it up, and there's more than a few convincing arguments this car-above-all philosophy has been detrimental to the economy, sustainability, and overall health and happiness of cities, and, as Jane Jacobs would say, has all but destroyed the diversity of city life and replaced it with cookie-cutter "Great Nothingness".
I personally shudder at the thought of redesigning our cities any more around cars, and instead hope the next decade will continue the trend of adapting car usage to living in cities and not the other way around.
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Self-driving cars can and should be an amazing complement to city life: owning a personal vehicle would be unnecessary if the city were dense enough to support a fleet of ever-roaming self driving cars, allowing more space for pedestrians, residents, and workers to enjoy the city and reclaim all the land dedicated to street-parking and parking lots (Los Angeles proper has more area dedicated to on street surface parking than the entire city of San Francisco is big). That's more housing, more parks, more schools, more activity, more events, you get the idea.
Most of that promise would dissipate if we had to further redesign the city around the car, and for what: so the few of us lucky enough to own a self-driving car could live far away from everyone else and putter around on their phone while their car is stuck in traffic on ever wider and wider highways?
American city planning underwent a fundamental shift in the 1950/60s which prioritized cars (I'd argue for the worse), and I think it's past time we undergo another shift away from ever-extending sprawl.