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There was a really cool piece I read some time ago that was going down this route of Infrastructural development. The whole idea behind it was the removal of the concept of 'ownership' from being the norm. Which leads to a smoother transition to automation.
Look at any road and imagine them without any parked cars!
Roads in the future will be functionally segregated and keyed wholly, I think, to autonomous vehicles being directed by smart traffic control systems. The vast majority of these vehicles will be "public" and not private. I see an integration of self-driving cars and trains as part of a revamped national and metropolitan transport. People won't drive cross country but be transported cross-country. The key will be intelligent integration.
Bicycles, if tolerated as part of the system, shall be in urban centres fully bannished to bicycle lanes and bicycle specific roads and highways. Since street parking won't be needed I suspect the "cheap" solution will be to turn the space currently allocated for curbside parking and pedestrian sidewalks into bicycle lanes and embarking zones. We'll, I think, see a lot of reclaiming of land currently burried by cars.