Agreed, but I wouldn't call them a "pipe dream" — Musk's timelines may all be pipe dreams, but the tech exists (and isn't just from Tesla) and can be used where legislation allows. On the scale of changing urban infrastructure, even if these take another decade, I'd expect them to be widely available faster than new train and subway lines.
Bike infrastructure should be an easy win, if only it wasn't for the political aspect that makes many see cyclists as "other". I'd be inclined to vote for people who promise more of it.
In some ways rideshare has given a preview of this model and it simply is not the future. Cars can't save us from cars.
This is also true of non-self driving cars, yet we structure our resources around this case. Car use has extreme & predictable peaks with long down periods between them. If we couldn't prevent it the first time what are we doing differently to prevent it the second time?
And again rideshare has given us a slight preview of this. The taxi constraints incentivize having cars near their predicted users. We'll either need to build and maintain waiting-car storage in central areas (eg parking), or accept idle circulation in down times.
Courteousness is a bit more difficult to address with just road / public space design, but designing to encourage more driver / non-driver interaction can help.
edit: a very non-american way to force people to pay attention on country roads is to make them BARELY wide enough to accommodate two cars. This forces attentiveness, because you don't want a head-on collision. Sounds problematic, but actually kinda nice in practice.
Could you unpack that? It doesn't make much sense to me. We don't want them driving around all day, we don't want them to drive home, and if it's a communal usage type thing they need to be stored outside of peak hours.