The fact that self driving cars exist is an admission that driving a car can really suck. Navigating busy suburbs and cities in a car is a stressful experience, especially when people are commuting to or from work.
I don’t think cars should be completely eliminated, as they have their place, but the existence of self driving cars is strong evidence of the insanity of the car being the only feasible way to get around some parts of the world.
The reason places are too sparse is because cars. They take too much space.