What you're trying to describe is named public transit not robottaxi, especially the argument that driverless cars will reduce transportation costs doesn't make any sense. It adds complexity to an already incredibly inefficient mode of transport. For road train like trucking on highways maybe it makes sense, for personal transportation on arbitrary streets it just doesn't make any sense.
There is no technology to help aging gracefully, it's in the respect and help of our peers and in our interactions with them, in the structure of our communities... Entering the sterile empty self driving car isn't actually more dignified than being picked up by a real human being. And sitting down in a tram or metro isn't less dignified than being shuttled around by a driverless vehicle.
It's not fuck Progress, it's fuck Cars, just because asbestos or coal power were progress at some point doesn't mean we should embrace them forever, the same goes for cars and self driving changes nothing about that. If cars still rule the world in 100 years we'll be dying even more than we already are.