There may be hypothetical efficiencies to be found in a closed network, but that is not real life. In real life people may choose to begin driving or stop driving at any time. We need to be aware of the impacts of people deciding to drive more.
In real life as soon as traffic improves and time spent in traffic decreases that is a pricing signal to the market, lowering the time price of choosing to drive instead of other alternatives, and encouraging people to switch to driving vs other alternatives. The amount of traffic will increase again until it reaches the fixed maximum throughput of the road network or the highest price people will pay in terms their time before seeking other alternatives.
This is the well studied phenomenon of induced demand. Previously of concern to engineers weighing whether to build a 10 lane vs 8 lane bridge, but also very applicable to this new technology.
When we consider that there is a significant amount of people that currently cannot drive that will now be able to drive with the introduction of self driving cars, such as children and the elderly, it's clear that the most likely outcome of prevalent self driving cars will be a significant increase in the amount of cars on the road. This induced demand for driving will necessarily make traffic remarkably worse regardless of whatever marginal optimizations may occur.