Japan has .67 vehicles per person, almost 80% America's .85 [1] and above many European countries. They travel about a fifth as many miles per capita as America [2]. But again, four fifths and a fifth. Nowhere close to zero.
There isn't a developed economy that wouldn't see a significant quality-of-life improvement from self-driving cars.
[1] https://en.wikipedia.org/wiki/List_of_countries_and_territor...
Found only for 1997, but increases the discrepancy to 1:2.5 : https://www.fhwa.dot.gov/ohim/onh00/bar4.htm
Tokyo would have a tough time existing in a world without cars, trucks or roads. Its economy depends on that access.
There is no tradeoff between self-driving cars and a multi-trillion dollar infrastructure rebuild.
I will agree with that statement but mostly because you added trucks in when the original complaint was about car dependency.