There are some times I'd be happy not to drive-- daily commute to work, going downtown for bars/live music. Those lend themselves well to ride-sharing and/or self-driving options.
There are some times I like to drive-- trips along the coast or through the hill country, offroading in the Jeep, wandering the countryside in search of small towns and hidden gems.
And there are some times that just aren't realistic or practical for me to hire ride-sharing or self-driving vehicles, like towing my boat or RV.
I think a lot of folks would happily give up driving over the next 15-20 years, but for some people, it will never be the 100% solution.