I live in a semi-rural area and I'm hoping autonomous will become "the norm" before I have to give up my driver's licence due to advancing age. I should have 15 years of driving before that becomes very likely - and my bet is that autonomous driving technology will be there by then.
I expect autonomous will have advantages - closely spaced vehicles at speed, traffic coordinated with traffic signals, higher highway speeds, drive away and return on demand instead of parking lots, super dense rotisserie type parking, etc.
At some point "drive it yourself" won't even be practical. Though they'll have self driving areas for week-end nostalgia driving. But you'll have to sign a waiver that if you wreck your classic car, get injured, run into someone, or someone runs into you, they won't be responsible.