Self-driving cars are a solution to a problem we already fixed a hundred years ago: we fixed transit with trains.

PS: I'm not claiming that every single transport need can be solved by trains, but they do dramatically reduce the cost in human life. Yes, they have to be part of a mix of other solutions, such as denser housing. Yes, you can have bad actors that don't maintain their rail and underpay/understaff their engineers which leads to derailments, etc. I say this because the utopia of not having to drive, not caring about sleepiness, ill health, or intoxication, not having to finance or repair a vehicle or buy insurance, not renting parking spots, all that is available today without having to invent new lidar sensors or machine vision. You can just live in London or Tokyo.