I think that’s an unproven assumption.
There’s certainly reason to believe it to be true of course, but uber and Lyft are already capturing upwards of 50% of the fares for each ride, and that’s without the capital costs on their books. Removing the driver from the equation can’t lead to much more than that 50% (realistically much less) margin.
Going from charging $10 to $5 isn’t going to make rides suddenly materialize. Especially in rural areas there are just times that people aren’t going to be looking to go anywhere, and wait time becomes far more of a factor that raw costs.