I’ve traveled to a decent number of countries and the only city I’ve been to that wasn’t filled with cars was Venice. I love public transport and I wish the US would do it better, but cars are extremely common all over the place and self-driving is something that would get a lot of traction in lots of countries.
Any reasonable large city will be fully packed with cars unless it enforce high parking fees and congestion charges.
No matter how much car infrastructure you build and self driving will only make it worse because it will incentify car use.