This is solving the wrong problem. Car self-driving through 2-4 rush hours does not solve the problem. Not having 2-4 rush hours would.
I expect a slow phase change to car-as-public-transport that never stops rolling when it isn't in maintenance.
Now, suppose your self driving car let's you work while in the car. So, your still in the office from ~10-4 and get daily face time, but your only working 8-6. From a work life balance that's effectively zero commute time vs a killer 2h each way, with the added benefit that you get to avoid some of the peak traffic times.
The upside is it makes vary long commutes viable, the downside is it's it's vary energy expensive but with electric cars that's far less of an issue.
No to mention things like effective valet parking everywhere.