It's not the suburban model that would need to be reformed, cars (self driving or not) are fine out there, it's about reforming using cars to get into and around cities. You don't need a train station 1,000ft from your house you just need rail fast enough to make it worth driving your car to the train station instead of driving it straight in. MTBA in Boston doesn't provide that as they aren't high speed, though they do have uniquely decent coverage for an American city.
No matter how low effort you make the middle part of the journey it's not going to make much of a dent in the amount of traffic one has to deal with as there is no way to get enough cars through a city to meet the demand if it were quick and easy. Now if this were about full self driving start to finish I could buy it but just making the highway portion better doesn't really fix anything at scale except for long distance truckers and family vacations.