Requiring cars to have wheels is also premature, because there are currently no cars that are safe to operate purely in self-driving mode with no backup driver, but once (if) there are fully self driving cars, people who can't manually drive will probably want to buy them. At this point, it initially may be necessary to at least disable the manually driving functionality in this case, if not outright remove the steering wheel, for safety (e.g when the car is being operated by children, people without licenses, seniors, etc.) and once this is possible it would be somewhat absurd for manual car aficionados to argue that simply making cars available in these configurations is somehow restricting people's freedoms.
Honestly, I suspect that 99% of drivers don't actually enjoy driving and will adopt self-driving cars as soon as they are inexpensively available, and in the long term removing the manual controls will probably provide more room for making self-driving cars more comfortable (making the seats recline like beds with a suitable safety harness, etc.).