Theoretically, fully automated driving doesn't require traffic signals, as much lighting, guard rails, lane width, rumble strips, reflectors, signage, etc.

At minimum increased to what they would be

if driving was a privilege

and not treated as a de facto right,

only withheld as a last-resort due to the curse it can be in the US.

I don't think so.

Engineers design a road for 55. Police say make it 40 for $$ and pretext. Public says make it 60. Karen says make it 30. Politician says they don't care as long as Karen stops screeching, the public doesn't hate them and the police doesn't hate them. End result ->45

Refactoring the humans out would only change a couple of the less influential inputs to that equation. It might actually make it way worse if the public loses interest.