The city block you're living on probably only needs one stand mixer, one waffle iron, one clothes iron. You could all just share one of these rarely-used appliances between you. Why don't you?
We could already build the world you are envisioning, trivially. Any municipality in the world could create an excellent fleet of mass transit vehicles - I mean a truly excellent system, capable of getting you anywhere you want to go at a very reasonable price and high speed. But no place does that. It exists nowhere.
Because people want their own cars. They don't want to share. And the cheaper these vehicles get - a requirement for your techno-utopia - the more people want their own.
Do you think Bill Gates' car will be out delivering packages when he's not in it? Okay, now why do you think everyone else is different from Bill Gates?
> Why do you even think that centralized parking garages will be as necessary when autonomously controlled vehicles can coordinate to efficiently fill any designated parking space that is road accessible?
That doubles the road problem, not decreases it. The autonomous cars spend four hours in a traffic jam on the two-lane bridge in order to park in the $1.50 parking lot instead of the $2.00 lot. You don't mind because you aren't in them. Anyone who has to actually cross the bridge is screwed. Traffic jams are actually BENEFICIAL to autonomous vehicles - free unpaid parking and low fuel usage - as long as the vehicle isn't needed immediately. Autonomous cars will SEEK OUT and JOIN traffic jams, when not needed, to minimize their cost of operation.