We have seen in the last few years Uber and Uber style services take off. These services decentralize taxi; there is no dedicated taxi driver, nor taxi itself. Anyone (almost) can join up with Uber, working as much or as little as they want. One important innovation is the app on your smart phone. You can be walking down the street, and hail an Uber electronically. In urban areas, an Uber may pick you up within minutes.
Now imagine driverless, electric Ubers. Low maintenance, no range concerns (the Uber always comes fully charged), no driver needed. Plus the normal uber benefit of maximizing seat usage. This could really keep costs down and be extremely convenient. The stigma of the bus would be gone, as well as the high cost of the taxi.
In this environment, many that own cars in urban areas may desire to be car free. After housing, the cost of owning a car is typically the highest costs that a person typically endures. Without that cost, people would have much less stress, financially.
And this is not mentioning all the other benefits: Less traffic. Less noise. Less air pollution. Much less dependence on fossil fuels, with a pathway to fully renewable transportation systems. Roads would have less cars, and those care would share the road more efficiently, so much less roadways would be needed, which would greatly lower the costs to society, typically in the form of taxes. It would also have significant environmental benefits.