That's optimal for the vehicles, but less optimal for the people, who have to walk to stops. I used to live in Germany which had fantastic public transport, but walking a mile to the nearest stop was something we took in stride. That's great for health, but didn't prevent Germans from being quite fond of their personal automobiles, and there didn't seem to be noticeably less traffic than in the US.
Meanwhile I think plenty of people find Uber perfectly convenient, just a bit expensive.
As far as physical efficiency goes, Tesla's plan is more efficient than their competitors'. Their dedicated robotaxis are either small two-seaters, or decent-size buses.