Replacing public transportation with point-to-point self-driving technology in a place like Manhattan, would require building out a ridiculously massive amount of road capacity.
In the real world people who can will spend money not to be packed in like sardines with people of questionable hygiene.
Know what happens when the AC is out on your vehicle? You get it fixed.
How about when the AC is out for the 3rd time this month on the bus/train?
"Oh well, that sucks, guess I'm going into work sweaty today"
Mass transit everywhere I've been in the US sucks. It's so bad only the poor us it, because even the middle-middle class finds it disgusting/inconvenient.
Inter-city transportation is a different problem. I think high-speed rail makes a lot of sense. It's energy efficient and land efficient and probably time efficient as well.
The US has enough space for gigantic parking lots and wide roads. They don't have the same problems as in Europe. That's a huge difference that you are missing there.
Rail is convenient, but it will never ever be as convenient as having a car take you where you want to be, carry your kids, and carry your stuff around. As soon as self-driving technology eliminates the hassles of parking and clean solar-electric tech eliminates the environmental concerns, ridership is going to tank on all the fixed train lines. It might be 10-15 years out, but I would be shocked if any of the investments made today in rail ever pay off.