We won't. Soon it won't make sense to have a car sat on your drive doing nothing for 90% of the time. Once driverless technology is ready, when you need to head to work you'll simply book your "johny cab" with an uber type app and it will be at your house in moments. Car ownership will plummet as it no longer becomes financially viable.
Not sure it will stop being financially viable - like they're not necessarily going to become dramatically more expensive, but the need for a two car+ household would be less - the regular commute, as you point out, could involve the automated uber to the park and ride station in the morning rather than say (excuse the traditional gender roles) the husband having one car for his commute that gets parked up and left all day and the wife having another car that can be used for ad hoc trips, dropping off kids at school/nursery, taking kids to swimming lessons.
You could essentially step things back to having a single family car - you'll still want the baby seats in the back, the ability to take the dog etc..etc.. that can be used for the ad hoc trips, taking stuff to the local tip, going on holiday in the UK etc.. you don't want to faff around ordering a cab in the middle of North Wales after you've been out walking and with muddy boots, wet waterproofs etc.. or to the beach in Cornwall when you've got a load of wet wetsuits, surf boards etc...
It would certainly change some streets - in places where there are small detached houses and semi detached houses from like the 50s, 60s etc... these streets were planned with a single garage/driveway and plenty of households don't use the garage, so one car gets parked on the drive and the street itself becomes a maze of 2nd cars cars parked across half the pavement on both sides of the road... could definitely do with going back to single car households just to clear these streets.