We, humanity, will always need cars. But
we, as individuals, one-per-person,
shouldn't. Having a car should be looked at the same way that we look at someone who says they have a horse, a jet, a tank, a yacht, a rocketship. Bemusement at that person's life choices. How ridiculous and ostentatious a life they must lead. Offended by the level of waste from a single person. (Privately, envious of their wealth.)
Like, why don't I have my own personal jet? There's the tiny detail of the cost (O($50mm) new, O($3mm) used, plus fuel and on-going maintenance. Unless you learn to fly yourself, the pilot/crew is an additional, non-trivial, ongoing expense.), but that aside, we don't see it as something remotely normal, and it's a disgusting waste. The necessary cultural shift involves moving all cars, but especially large truck/SUVs, into that same category.
That's the shift that's going to take generations, and only with monumental, concerted effort to rebuild our entire infrastructure along side it before that's even remotely possible. We can't even manage to spend the money to maintain our current infrastructure properly, so it looks impossible from where I'm standing. (But that doesn't mean it isn't worth trying.)(Electric self-driving cars don't change the calculus here, either.)