Autonomous driving doesn’t need to be perfect because we don’t need it. With sufficient alternative systems the only reason for driving will be for hobby (and we don’t want that automated anyway) and heavy load work (like agriculture, mining, or logging) which is already heavily automated.
I'm not walking halfway across the country just to visit my mother.
The sum of these alternatives will almost always outweigh driving in terms of benefits with a notable exception of convenience. So if you are willing to sacrifice convenience when you want to visit your mother, you will almost certainly get there faster and more economically (with the right systems in place) then driving.
With that said, yes there are faster ways (albeit still less convenient) of getting you outside of said city. You might have to change your mode of transportation a couple of time (I said it was less convenient) but it will still be faster with the right systems and infrastructure in place.
1: This is not an unfair scenario because this is already almost the case for all of the non-alternatives.
Kiss an extra two hours of your day goodbye just to get to and from work (assuming you have a job). Going to the doctor is a nightmare (assuming you have medical insurance). It sucks a lot, unless you're living in a city so dense that cars are impractical.
I hope your local politicians agree with me that expenditures going into making these alternatives are money better spent then waiting for the technology to dedicate highway lanes for autonomous vehicles.
That is I hope they agree that your situation of not being able to go to the doctor within a reasonable amount of time takes precedence over people wanting to sleep during their 8 hour highway trip but are unwilling to take the bus for some reason.