I don't buy it. In that scenario, how does anybody learn to drive in the first place? Someone who hasn't spent years of their life driving manually won't have developed the skills to intervene properly in an emergency. At best, driving would, become a specialty career/hobby, like piloting aircraft.
By the time all personal transportation is automatic, it won't just be the status quo with "robot chauffeurs". The whole transportation ecosystem will have to change substantially. Self-driving cars are just a first step to get people used to (or even enamored with) the idea of automatic transportation on a large scale.
I love driving. I find it incredibly enjoyable. I don't think automatically driven cars will change that because I'd happily give up 80 - 90% of my real world driving to a computer. Driving on a congested motorway (highway) or in a busy town just isn't fun, no matter how nice the car you are driving.
I think horse riding might be the best example of the way things will go if and when automatically driven cars become a reality. Once a life skill required by everyone, now a hobby in all but the most extreme of communities.
By the time all personal transportation is automatic, it won't just be the status quo with "robot chauffeurs". The whole transportation ecosystem will have to change substantially. Self-driving cars are just a first step to get people used to (or even enamored with) the idea of automatic transportation on a large scale.