Sure. But don't underestimate government looking for any excuse to push behavior.

I would expect:

• Legacy highways' lower usage means more maintenance dollars per car. Even freeways become toll roads. Those who have a robot car, what the government wants me to have, will have their complaints heard about why they should pay to maintain roads they don't use. Of course people today complain about paying for "public" works they don't use, but this one is tied to behavior so it'll actually work.
• More maintenance dollars but less will be actually spent because fuck the people. Degrading conventional roads with those old fashioned painted lines and signage will have speed limits lowered in the name of safety. Expect a single lane on these old roads to be in great condition, and those will be for "special" cars and drivers, like HOV/LEV lanes today: special meaning government and super wealthy who need speedy access to their private jet terminals. My state already has "dedicated transponder toll lanes and roads" with higher speed limits and even those limits are never ever enforced as people who can afford to use them treat it as a free-for-all.
• If your car can go into manual mode, insurers will charge many times more in premiums. The automatic cars will have some anti-accident certification or warranty (that will likely be bullshit). Whether the actuaries agree or not, the government will reinsure companies against losses from self-driving accidents with no such luck for human drivers. Again, the very wealthy will shrug at a rounding error while you and I will be priced out.