I'm sorry but how would I get into a self-driving car? I'd probably not own one. I'd ride in a Waymo, Uber, or some other provider's self-driving car which would mean they'd need to be authenticate who I am and check to see if I am authorized to get in the car...
I don't know what you mean. In the U.S. you don't need a drivers license to ride in a car. Uber does not currently require any state issued ID for riders and I'm not sure why they would in the future.
You might need the Uber app but that isn't tied to any government ID.
You need to have it for those things. You don't need to "carry" it for those things. Nobody does all of those things all the time every day. Going to buy some beer? Bring your ID. Going to walk the dog? Feck off, cop. I'm a citizen minding my own business.