The core for a good experience is a good structure.

In many regions of the U.S. people live too far apart, shops and businesses are zoned apart into wide spread business areas. Public transport won't provide a good experience.

In a notable part of European cities people live in denser quarters, where a "third place" is reachable in walking distance, some degree of shipping, doctor visits, work are close by. There public transport can fill the gaps for the remaining trips in an (space) efficient way. Self driving cars however would clog the area.

Adapting US settlement structure to allow public transport won't happen. However a self-driving car can turn the dial for individuals to move out of the urban European area into more rural areas. Question is how big that group is.