There's a tipping point where only people who want to drive will still do so which will likely make the insurance costs for those drivers very expensive because they're driving among automated vehicles which increases consequences of bad driving. (Fully automated, machines can talk to each other to avoid collisions).
This increased cost of insurance will encourage more people to switch to automated which will further encourage switching.
That tipping point is probably a relatively small percentage before it starts snowballing. All it takes is to get to a point where automated drivers are safer enough than driver-based that they can be insured significantly cheaper.
It won't take long after 95%+ of people are automated with the remaining 5% causing 90%+ of accidents for manual driving to be banned or shunned as a socially unacceptable risk like smoking.
I predict this will happen within 30 years.