I doubt we will ever have effective public transit across the US. It’s just too big and most places have too low a population density to make it cost effective. And the price of convenience would be high.
I used to be bullish about autonomous driving but no longer am. Ten years ago it felt like a much safer-than-human computer driver was within close reach. It no longer looks so rosy. I think Waymo’s approach will prove the most successful, and will end up with many of the same constraints as public transit. These companies have been going at it for a long time and have mostly demonstrated just how hard the problem really is. There is a decade of sunken cost for anyone leaving the market now. Would replacing human drivers be cost effective in any reality? I’m unsure.