The issue with this is that it requires such high capital investment before the first driverless car can be introduced.
What you are describing is actually probably the end game - but I think musk and others have correctly identified that if you wait for infrastructure to be ready then you will be waiting a long time, and if you want to see self driving cars anytime soon you have to assume current infra.
What you are describing is actually probably the end game - but I think musk and others have correctly identified that if you wait for infrastructure to be ready then you will be waiting a long time, and if you want to see self driving cars anytime soon you have to assume current infra.