No Net Change
rRbocars are not going to change the Urban Sprawl problem. The sprawl problem comes from people wanting to get out of the problem 'inner' city area. The problem is limited by the maximum trip time that people will put up with. Robot (computer) driven cars are not faster than human driven cars, so the trip time will not be substantially reduced. It will probably take longer. What it may do is to reduce the number of cars you need. If the car can take me to the train station, then go back home, It could serve double duty. If my family needs two cars, it's just a matter of scheduling. Before we get to 3 or 4 cars, it will definitely be possible to forgo on of the cars by scheduling.
No, it isn't autopilot driving that will enable more suburban development than we presently have, it will be high speed transport, probably rail.
At the other end, unmanned taxis should be less expensive, and therefore more used.