What makes you think that the self driving technology being developed (by, you claim, "burning tens of billions") is only for "personal vehicles"? The same tech

What makes you think that the self driving technology being developed (by, you claim, "burning tens of billions") is only for "personal vehicles"? The same technology is what can enable the large fleets of self-driving minivans that are necessary for what you describe. Cities can impose a charge per mile driven (that fluctuates depending on current traffic) and people can then decide whether they wish to use a "personal" vehicle or order a self-driving Uber/Waymo minivan pooled ride.