No, a horse and car were like night and day. You have to feed a horse, a lot. Horses poop, a lot. And horses get stressed, they die in intensive use fairly regularly. The poop and the dying were the public health crises of their day.

It’s annoying to drive a car, but a self driving car isn’t going to massively change things. The bottleneck in most road systems are where they interface with pedestrians and cyclists (one can only cross the street so fast); self driving cars might improve highway capacities but the bottleneck is usually a backup from too many people coming or going on the same ramp into a traffic light.