Roads are already easy to drive. We already have signs on roads directing people to the most prioritized destinations. And now we have navigation apps that can even provide turn-by-turn and lane-by-lane directions. The issue is that most people simply ignore traffic rules when it is convenient to do so.
We didn't redesign roads and navigation for taxis or rideshares, and we're not going to do that for self-driving cars either.
We absolutely do redesign roads when the existing design becomes suboptimal as indicated by an increased number of accidents or driver complaints. And we do sometimes have lanes specifically for buses / taxis, too.
We already do this stuff, and we won't need to rebuild 99% of roads. It's the "less than 1%" that are already tricky for normal humans that might need a rework. Or self-driving cars will just take suboptimal routes, if those roads / intersections aren't the only ways to important destinations.
Where I live in Seattle, they have rolled out significantly more 5-30 minute loading only zones on former street parking to deal with the uptick in rideshares and food/parcel deliveries, because the alternative is a bunch of illegal double parking.
We didn't redesign roads and navigation for taxis or rideshares, and we're not going to do that for self-driving cars either.