The opportunity cost of having a vehicle sit unused in a parking lot 90+% of the time is really high. We've only tolerated it for so long because human labor is and has been more expensive than the vehicle's depreciation. Autonomous taxis potentially flip the script on that assumption.

Sure, rich people will always have enough money to afford luxuries like privacy and comfort, but most people are price sensitive and will opt for the cheapest transportation solution that delivers them where they need to go in the fastest amount of time. I would wager this will be a Waymo type autonomous taxi service but time will tell.