None of this post is in direct response to HFS, just thoughts.
No worries - though I'd like you to clarify a few things.
Vs. restricting the right to travel freely.
I'm not quite sure what you're getting at with this.
To clarify my own position, people obviously need some way of getting to work. Currently, cars are the most effective way for many people to do so - even if they have no interest in driving, or worse, lack the ability to do so safely or responsibly.
My preference would be for them to not do so, but that requires some other way of getting those people to work. Autonomous cars are one option, and while it would solve the problem of bad drivers, it wouldn't solve the more fundamental problem of too many vehicles being on the road in the first place.
Meaning they don't responsible well enough in the eyes of others.
Also unclear on this, but broadly, yes. While my opinion should have no bearing on the way others live their lives, there are clearly a lot of people out there who don't drive responsibly, and that's something that affects the safety of others.
I'm all for this, but it needs to be voluntary.
Voluntary in the sense that people must choose to use these systems over the current option of driving, or in another way that I might be missing?
If the former, I agree, though that also raises the issue that humans are naturally selfish and if the option is between taking a tube or driving in your own personal vehicle (even if driving badly and contributing to traffic), I suspect many wouldn't give up their cars unless cost and time were stacked heavily in favour of the alternative. Convincing someone that doing something differently is better for society is much more difficult than convincing them that it's better for their wallet.
I spent several years writing for a green vehicle website. I understand that side of things and am naturally inclined towards ecological causes - I don't like waste or excessive consumption, I recycle, I tend to drive with economy in mind if I'm not expressly driving for pleasure. But it's difficult even for me to choose an alternative to cars for most situations, since the alternatives just aren't good enough where I live.
The only scenario I'll pick public transport over my own car is when I travel to London; in a car it's a 1.5+ hour journey (with the potential for more with traffic) and I'd have to pay for both congestion charging (£12 per day) and an extortionate parking fee when I got there. The train is relatively expensive (£45 usually for a return ticket, more at peak times) but it's a 50-minute journey that drops me into the centre of the city where I can choose to go everywhere on foot (free) or via the tube (not free, but not expensive).
Incidentally, I'd still take the train into London if the alternative to driving was autonomous driving, purely for the time savings and not wasting my life away in stop-start traffic.