That's one vision, but it's probably not the most likely one. People like privately owning cars, and as long as they're more convenient than hiring taxis it'll probably stay that way.
Here's another vision of the future - gradually everyone's cars become self-driving, and now cars are more accessible to a wider range of people. 30% of the population currently can't drive due to age or disability, but if cars drive themselves the elderly, disabled, and even children can now own and operate vehicles. And now you have 30% more cars on an already congested road system. That should be enough to make traffic jams the norm everywhere.
But in case that wasn't bad enough, consider this - now people can do other things while they travel, because they don't have to be driving. So, in turn, they can live further and further away from their workplaces in cheaper, larger houses and do more of their work on the go. And while they do this they're spending more time on the roads, and - you guessed it - causing more congestion.
And because parking will always be expensive and hard to find in busy city centers, people will set their cars to loiter while they visit, rather than parking. Just going round and round while their owners shop. Causing - you guessed it - even more congestion.
TL;DR - the most likely result of autonomous vehicles is out of control congestion.
When teleportation becomes a thing society will force supercommuters to teleport in from farther and farther-out to maximize shareholder value while remaining in compliance with their respective companies' hybrid work policies. That you arguably die and are recreated every time you pass through the portal will finally end all discussions around whether your life is worth more than productivity.
Here's another vision of the future - gradually everyone's cars become self-driving, and now cars are more accessible to a wider range of people. 30% of the population currently can't drive due to age or disability, but if cars drive themselves the elderly, disabled, and even children can now own and operate vehicles. And now you have 30% more cars on an already congested road system. That should be enough to make traffic jams the norm everywhere.
But in case that wasn't bad enough, consider this - now people can do other things while they travel, because they don't have to be driving. So, in turn, they can live further and further away from their workplaces in cheaper, larger houses and do more of their work on the go. And while they do this they're spending more time on the roads, and - you guessed it - causing more congestion.
And because parking will always be expensive and hard to find in busy city centers, people will set their cars to loiter while they visit, rather than parking. Just going round and round while their owners shop. Causing - you guessed it - even more congestion.
TL;DR - the most likely result of autonomous vehicles is out of control congestion.