>In time, human driving will be phased out and that will precipitate removal of speed limits and traffic lights as autonomous cars will be able to use vehicle to vehicle messaging to negotiate intersections. Of course pesky pedestrians and cyclists could still be in the way. That's where lobbying comes in to restrict the pedestrian areas to pockets where cars and people never share the same space. But since cars require much more space than peeople the result will be more sprawl and less walkable places as it will be people who will get pushed aside.
All the incentives you described exists today. On any given road any space devoted to sidewalks or bike lanes means less space for cars, and you already need separation between car lanes and sidewalks. You also have the same incentive to "restrict the pedestrian areas to pockets where cars and people never share the same space", because any controlled access roadway increases speed and throughput. Finally if you restrict pedestrians to certain areas (we all live in megatowers?), that actually makes taxis (including robotaxis) less attractive relative to public transit, because their whole value proposition is that they take you exactly where you want to go. Therefore it's unclear how automated cars would make things worse.