Driving should not be a privilege exclusively for rich people. Poor people cannot afford to pay an Uber to drive them around and can’t afford to buy some Tesla with FSD either. Waymo would be grossly unaffordable for a 120 mile daily round trip commute.
In Australia I met people with even longer commutes - going 150km to get to a job, mostly due to how unaffordable housing has become.
If you want to take away people’s cars, you need to make sure they can access employment and have affordable, safe housing. Remember that half the population makes less than the median income.