I'm not sure we need to retrofit Atlanta or Dallas, or what you might envision here. You could for example maintain existing infrastructure without spending a lot of taxpayer money on new highways and instead allocate funding to improving density, adjusting zoning, eliminating surface parking lots, and literally just paving sidewalks and bike lanes.

Busses can run on existing highways and throughout cities. City streets can already accommodate trams and bike lanes.

I agree that self-driving cars are "going to be a thing" but their proliferation I doubt. They're not really a category change from Uber, it's just "more efficient" as an additive solution, but we need subtractive solutions. You can think of the car and self-driving cars in particular in the same way you can think of personal digital cameras, alarm clocks, and smiliar devices before the advent of the iPhone. The iPhone (and other smart phones) was a subtractive product and eliminated the need for those devices.

Similarly a sidewalk and building well (among other things) eliminate much of the need for a personal car and so Ford, GM, Toyota, Tesla, etc. can't effectively compete because they don't build sidewalks or have anything to do with this category of transit. If I can just walk over to the grocery store like I could in London or Osaka then no amount of self-driving will matter.