A fleet of SDCs snaking down a road can "tuck in" tighter to each other because computer reaction times are better (especially if they're networked and sharing decisionmaking signals).
Of course, it's still not as space-efficient as a bus. But the bus infrastructure as a solution has been challenged by COVID-19.
The constraining factor on SDC commonality in the short-to-medium term will be maintenance. These cars require dedicated service (which is why they'll likely start as replacements for taxis, not privately-owned; people will have to be hot-rodders to want to do all the work necessary to keep the sensors clean and tuned).
There may be a threshold in the future where the sensors are hyper-rugged or self-maintaining, but it's a little ways off. The maintenance burden will keep the ghost cars down in the short- to medium-term.
Right now there is a difference in quality of that time in that your attention is more free when taking public transit but self driving cars fix this issue.
Human-driver cars consume parking spaces at the destination, self-driving cars don't have this limitation. They park themselves away from high-traffic areas or they could ferry other people around.
Part of the problem is the general incompetency and mismanagement of US public transit construction -- the costs are insane, even when compared to "socialist" "high-cost" union-heavy Europe.
This was a great read on why we get so little for our money: https://www.nytimes.com/2017/12/28/nyregion/new-york-subway-... - and it busts the common misconception that it's 100% because unions. (tldr: it's because politicians get rewarded for creating jobs (votes) and spending money on contractors (lobbying), and because we outsourced everything)