The existence of taxis is (obviously) not enough to curb car usage growth.
EDIT: Some specificity: How would robotaxis replace commuting for millions of people in a way that reduces car rides? The taxi has to move at least from the storage to the rider pickup to the rider dropoff. Without sharing, that's actually more miles and the same number of cars.
Instead, if it picks up two people per day, that's more miles, fewer cars in existence (since both riders dont need a car), but the same number of car trips (plus the to/from storage).
With taxis (robotic or otherwise) the number of miles driven is just going up unless people change their lifestyle. That doesn't do anything to curb care useage.