This description of self-driving cars sounds like taxis, but less resource efficient, more error prone, and exclusive to those who can afford to own one.
Additionally, trams/streetcars have been solving the last mile problem since the 1800s. Sure, you run the risk of needing to walk 5 minutes instead of being driven straight to your destination, but I really don't see how that justifies paving over millions of acres of land merely to have a convenient place to stick our cars.
That sucks. That's why I think we should build more bus stops instead of millions of acres of parking lots and forcing everyone to spend thousands of dollars a year to own and operate their own personal heavy machinery.