Long haul drives are the edge case, last-mile trucking won't be anywhere near the first thing to get automated, people aren't suddenly going to want to sleep in their car to do overnight trips, etc. The biggest future change to fuel stops is electrification, not automated cars.
Consider for a moment that Waymo is very early into the "hey, we are allowing driverless rides on very well mapped roads!" situation. How many years have they been almost at that point already? Now put that together with the typical R&D timeline for a new car (perhaps 6 years plus or minus), and the average lifespan of a car (11 years and climbing, last I checked). No manufacturer has legitimate driverless cars in the production pipeline. We're quite a lot farther than 10 years from seeing any consumer driverless cars on the road, much less a significant enough number of them to worry about 'two-tier' driving experiences. The EV transition is going lightning fast by comparison.