Maybe, provided they run 24/7 and have
very good coverage. Europe has much higher population density than all but the most populous regions of the US, though. Perhaps self-driving buses could do an amazingly better job than our current transit infrastructure, but I'd have to see some really convincing estimates.
For some context here: it would take on average 1.5 hours for me to get to a friend's house by bus/train, when that's ordinarily about a 30 minute drive. That's highly variable too; if I miss one bus with a 1.5 hour route, there's another one a few minutes later, but that one would take 2 hours. If I didn't leave before 8pm for the return trip, I'd be stuck there until morning, as the buses stop running around then.
And Google Maps won't even give me transit directions to the venue for a friend's recent wedding, which I interpret as "don't even try."