I think this is missing one major thing: private car ownership will drastically decrease. It will be a luxury to own a car, almost everyone will be driven in available commodity cars. I personally hope this becomes public transit: available public cars just like some cities have available public bikes. Request it via your handheld (a la Uber), take it anywhere, hop out and it will either remain where it is or head to where it's needed. But it could just as easily by all private robotaxis.

Human drivers will be regulated and confined to certain areas. No amount of "but I like the feeling of driving!" can justify unnecessary death and destruction for too long, and anyway people will grow up not driving. It's more or less like paper books.

Eventually the infrastructure and car design will change, too. Our system is built for human drivers and cars. Obviously we won't abandon existing roads, at least not for a long time, but a lot can be changed cheaply that will have major effects once robocars are ubiquitous.