Sorry, but I think this point of view really does not take into account the reality of the situation in many US cities (or, more importantly, many US suburbs). I would love it if I could take a highly quality bus instead of be stuck in traffic driving, but it's simply not feasible given where I live. Driving downtown to work takes about 20 mins with no traffic, about 35 mins during rush hour, and even if there was a bus that I could take (there isn't) given the additional stops it would still take longer than that, even though it can take the 'express' lane.

Where I live self-driving cars, even if "highway only", IMO are much more feasible than an adequate public transportation system that would cost billions to construct.