Indeed we can which is why some cities on the planet have gone carless and more and more opposition is mounting in the face of traffic deaths, pollution and so so on. Even in the US, maybe the most car dominated country in the world, there is a political revival of talks about high speed rail and alternative forms of transportation.

The other important difference being that the step from having no cars at all to having cars was one of the largest leaps in mobility in human history. Self-driving cars are nice, but not that much of a leap, and they have much more ambiguous implications when it comes to the job-market. They will face significantly larger hurdles with significantly less payoff in sight.