The major flaw (among many) with Musk's self driving taxi Tesla vision is that it treats cities, the entities that control the roads the taxis would drive on, as passive entities that wouldn't make any peep of objection.
In reality cities have plans on the books to shift away from car oriented design whether it be electric or ICE. Additionally, cities now understand that ride hailing competes with and erodes the quality of public transit, with some accordingly capping ride hailing licenses.
Cities are not going to want the surge of congestion that self driving Tesla taxis would bring.
Autonomous cars are part of the shift from cars, because they don't need street parking and can "loiter" offsite.
Urban plans for alternate modes of transit (scooters, bikes, etc) will massively benefit from street parking elimination. It's where the lanes can be safely placed.
Autonomous driving will revolutionize public transit. Uber isn't wrong about that, it's just that they are too evil to be trusted with it from a monopoly standpoint. Autonomous can solve last mile problems and centralize transit stations so that you don't really need bussing, and can concentrate on fast high capacity trains with "coarse grained" stations.
It is still a model of having one 15'x6' vehicle carrying 1 person to 1 destination, which leads to congestion no matter how well the cars are timing off of each other. Either these things get really really tiny (self driving moped?) or we cram more people in one of them (self driving bus?) because at the end of the day its a physics problem of there being not enough space on the road for everyone in a city to be transported one at a time, 20' by 8' apart.
In reality cities have plans on the books to shift away from car oriented design whether it be electric or ICE. Additionally, cities now understand that ride hailing competes with and erodes the quality of public transit, with some accordingly capping ride hailing licenses.
Cities are not going to want the surge of congestion that self driving Tesla taxis would bring.