Some thoughts:
* For the purposes of transit efficiency, self driving cars are very similar to Ubers. They have a low passenger density (being a regular car), and once the passengers disembark, they still take up space on the road with 0 passengers. Better experience and lower costs will basically just induce more demand over more efficient mass transit options. If you imagine everyone at a bus stop ordering an Uber, or have ever seen the flurry of Ubers after a big event, it's clear why self driving isn't really addressing the core issue.
* You can't really make direct cost comparisons to the infrastructure costs of bus lanes or subways like that. Infrastructure is ungodly expensive in the US, yes, but there are very well understood reasons to make dedicated bus lanes and subways: they don't compete with cars on the road. They're high density transit options, so having more reliable service will impact a lot more people (and reduce car congestion on the road!) A rideshare service is wholly unprepared to deal with the transit demands of a larger city, and imagining that we'd replace existing mass transit options with it is silly.
* I don't really understand the point about suburbs. You can already get that experience today by ordering an Uber to and from work. If there's more demand, it's just going to make traffic even worse while promoting more suburban sprawl.