If tomorrow we banned non-self-driving (NSD) cars, sure. But in most countries, grandfathering in old cars is going to happen for a while. Which means that self-driving and non-self-driving cars will have to share the road.

I could see some transitions possibly. For example, on a 4-lane highway: "In 2027, lane 1 will be separated by a barrier and only allow SD cars. Lanes 2-4 will be for NSD cars only. In 2029, lanes 1-2 for SD. By 2033, NSD cars will be banned on this highway."

Didn't Elmo muskrats tunnel end up causing more traffic?

Building railway tracks to achieve universal coverage for the entire US without be a massive undertaking that would require a huge effort over multiple decades. Compared to that, building self driving cars is downright trivial. Let's not forget that they exist already, albeit in limited areas. People should not let their (justified) anger at Musk blind them to reality.

So bike lanes but for cars. What could go wrong.

Trains don't self-drive, though.

Okay, for the pedants: most trains don't self-drive.