That sounds like a nice future if we can get there... but if we look at recently observed trends in the US, the increased barriers to driving a car in recent history has probably resulted in lower rates of legal compliance, rather than better driving behaviors.
The risk of hit-and-run accidents, uninsured drivers, and unlicensed drivers on the road are increasing.
While public transit could be a great solution, much of the poorest in the US cannot afford to live in places with good public transport because these areas have higher housing costs.
> We tolerate it, extraordinarily, because driving is almost a right in America.
Partially. But even the laws we do have are currently being ignored, because rates of compliance are so low that it isn't even practically feasible to enforce the law. In several US states, more than 20% of drivers are driving around without insurance. The underlying problem here is beyond what can be solved merely with enforcement.
I'm hopeful it eventually happens, but I think we're a very long way from a world where someone in small-town Mississippi can ride around in a robotic car on a McDonalds wage.