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Notes -
I think we're going to see the end of suburbia as currently understood as a result of widespread availability of self-driving cars. The built form of suburbia is dominated by parking, and self-driving cars mostly remove the need for car parking near destinations - either your robotaxi drives off and finds another fare, or your privately owned robocar valet parks itself somewhere where the marginal cost of a parking space is negligible.
Assuming that cities can charge enough for road space that we avoid permanent gridlock, city life gets better with affordable taxis and the no-longer needed car parks either turned into human parks or built on. And actual rural living gets better if you don't need to drive yourself on minor roads in the dark. But I don't see who will want to live in the kind of place with a massive sunk investment in what is basically sheds on the edge of parking lots.
People still want 1k+ square feet per person, space from their neighbors, pleasant controlled outdoors, and distance from riffraff.
Suburbanites are literally happier than city people and changing the transportation equation isn't going to touch that.
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