Unless it comes down massively in price, it's not going to displace manual driving for anything other than Uber/taxi. It's far cheaper to drive your own car in most of the us. If parking lots disappear and the parking that remains becomes similar in price to that of major cities and insurance rates skyrocket, then maybe that will change, but only by increasing the overall cost of transportation.
In practice, if you provide enough cars to meet the demand to travel from suburbs to city at 7am-9am and back again 8 hours later, I’d expect a large fraction of them to be idle outside of peak hours. And even at peak hours, to be spending half their time empty, as almost all the demand is in one direction.
And if you don’t provide enough capacity to meet rush hour demand? Good luck convincing people to give up their cars.
