I can only take an example from my own life: I'm a licensed motorcycle rider, I use it as my primary form of transportation when it's over 50F rain or shine. Being a motorcycle rider, I can never get a ticket for not wearing a seat belt, or driving with all of my doors open (silly analogy, I know). All of these safety devices don't apply and riding a bike requires substantially more skill and practice than the weekend course required in most US states to receive a license. Arguably it is an incredibly dangerous way to travel compared with driving or riding in a car and it's still legal.
I wonder if the guy/gal of the future who decides they want to reject driver-less cars won't resemble the modern motorcycle rider in this way. I can see those of us who love our motorcycles standing up for (and probably being) supporters of "driver's rights". I made that up, but a similar movement among riders resulted in my state lifting the mandatory helmet law despite outrage from non-riders. I can't imagine the state getting away with banning motorcycles. I don't believe it'll have enough support to ban drivers in a driver-less majority world.
The other issue is one of need for such legislation. The author states that the automobile stands as one of history’s great amplifiers of personal autonomy and liberty. Liberating? For some of us, but probably not most of us. I think more people see it as a tool to get from their home in suburbia to work/kids to baseball practice. Most people see driving as something they have to do rather than want to do and will be happy to get rid of the chore if the price was right. Those of us who do find it liberating will be part of an enthusiast market that has always existed for both cars and motorcycles. We'll be the ones taking the most risk and consequences for taking that risk, while the driver-less passenger will, arguably, be much safer.
EDIT: Grammer/structure. Boo