You don’t look for the essence of a city in its monuments or its museums.
Roads are straight and wide for faster travel; intersections are regulated to protect distracted humans; businesses are located near open spaces for better parking.
While main thoroughfares will still exist (so self-driving buses and trams can quickly get people where they need to go), there won’t need to be as many.
Great news: With less space needed for everybody’s personal cars, nature can be everywhere.
Also, why not move water runoff above ground as streams, for pedestrians to enjoy?
It’ll be too expensive for taxi companies to operate their driverless vehicles during off-peak hours, so cities will scatter small “nests”—pit stops for autonomous vehicles—throughout their streetscapes.