...until self-driving cars become mandated, yes. Much like seat belt use, I see self-driving cars as the sort of thing where there will be a tipping point beyond which Government will up and say, "Welp, they're safe enough, so now everyone has to have one. Autonomous driving will become illegal after 2xxx."
The ability for cars to drive independently is simply too basic and necessary to completely remove. Its likely that learning HOW to drive will still be required to access this feature though, or at least necessary to do it legally.