Sort of. I think there's a good argument to be made for part-time self-driving cars with specially-designed highways in places where it makes sense. So you'd drive your car the old-fashioned way from your home on the residential streets until you get to the Automatic Interstate. There, you maneuver into the "pattern" lane and the road and the AI pull you into traffic and drive you to your exit. At that point you're directed out of the pattern and control is given back to you, where you take the side streets to wherever you were going.

It has the advantage that it covers the very common use case where someone says they can't take public transportation because they need mobility at their destination.