Because once they become ubiquitous, I suspect the vast majority will be operating in carpool mode at rush hour. Most people won't be willing to pay 4x to get a private vehicle if they're by themselves. Especially since the more vehicles there are, the more efficient carpool mode becomes for everyone.
Of course it's less attractive at the same price, but if it's cheaper enough it becomes more attractive for the average rider. And we can even imagine cities implementing single rider surcharges at rush hour to keep traffic running smoothly.
Rush hour will be a bottleneck. So something has to be done, and it will involve trading off price and convenience. Whether it's carpool mode or self-driving buses or likely a combination of the two.
But then thinking more about it I thought of how great we (all the people who like Waymo) think it performs around bikes and pedestrians. So now I agree with you directionally but you might not be taking it far enough. Once (if?) autonomous vehicles rule the road, and they're known to be safe, the future will likely be the broad spectrum from autonomous buses (on the large side) to super-cheap, bike-like vehicles (on the small side) that cost way less than a car. For a single occupant, if you knew another vehicle wasn't going to kill you, wouldn't you take an e-bike (with a cover and basket on it?) for short trips if the fee was proportionate to the cost of the vehicle? I would. Assumes lidar shrinks I guess and that automated kickstands are a thing, but that seems tractable in the years to come.
For a "bike" to balance you need a certain level of physical/mental engagement. How much value are you really getting from the self driving aspect, even if it were feasible, at that point?
At some point smart-car esque self driving vehicles will likely be possible, but self-driving unenclosed two wheelers? Pointless IMO.
A bike already fits your requirements, self driving would just make it more expensive.
If you want something enclosed, NYC has self-driving (from your perspective) trains and busses.
If you want enclosed and not-shared, I guess you just want a smaller car? Losing wheels wouldn't make it cheaper, IMO, because that makes a bunch of stuff more complicated.