> Self-driving vehicles give us the opportunity to rethink almost all of our physical infrastructure and create way more human-friendly cities.
Ok, that's just giving me a stroke. We already have that. It's called public transport, walkability, bikeability. These have the upside of being extremely well understood and use technology that's available today. We could start seeing benefits within a few years, not decades.
Even in your dream scenario, 50 or so years from now, cars would still have a lot of the same downsides they have today of using way too much space and causing way too much pollution per person for the utility they provide.