I want the robocars to take over for the selfish reason of being able to safely ride a bicycle everywhere without any intervening bike infrastructure campaign.

Like, the "urban traffic problem" really can be reduced in almost every respect to either "humans are unsafe drivers" or "cars take up too much space". Shrink the fleet down to robotaxis and ebikes and you've solved everything last-mile related with no streetscape changes, leaving just the longer journeys for shared modes. As a bonus, kids become much more self-mobile again.