The Strong Towns ideology is attractive (especially for northern US cities), but I think if self driving cars come into existence, the ideas might not get very far in most places. Self driving cars are going to encourage sprawl like no other force ever has. I know I'd move further out if I had a self-driving car.
Just look at NYC to find the typical pattern: Young person lives with multiple people in an area like the Lower East Side or Williamsburg (yay social life!), then begins to settle down in a place like Park Slope (just married!) and has a kid (dedicated to urban living) and then another kid comes along and/or the reality of urban living (the schools are awful, it's cramped and expensive, the city offers you nearly nothing since you don't go out like you used to) and the brownstone is sold for a tidy profit and they're off to the NYC suburbs to get more space and a better quality of life to raise a family in. The city is a short commute away still.