The fire department in SF has made it very clear that these cars are a PITA for them. They are actively driving through emergency situations, cannot follow verbal instructions, drive over fire hoses, etc.

Yeah, this is one of the biggest points, IMO. If a human did this, the fire department would immediately arrest or fine them. When a so-called "driverless" car does this, who the hell can they arrest?

But I don’t think that’s what’s happening here, and I don’t think they are. American cities are a fucking disaster of planning. They are genuinely shameful, forcing their inhabitants to rely on cars, an excessively wasteful mode of transportation, all in a climate crisis. Instead of coming together to work on this problem, we’re begging our technological overlords to solve them for us, with an added drawback of privatizing our public infrastructure.

This whole idea that we're going to completely transform large, already-established cities, covered in literally trillons of dollars of infrastructure over the course of over a century, into some sort of carless, pedestrian utopia is so hopeless unrealistic that inserting it into a discussion about real problems happening today is actively sabotaging the rest of the good points you have in your argument.