Even buses don't take you door to door. I can't imagine a future where a streetcar is anywhere near as good as self driving cars (possibly paired with mass transit).
Are you familiar with streetcar suburbs? They'd have a streetcar running along a commercial street, with residential streets branching off from it; typically one would have a walk of a few blocks from streetcar stop to house. I don't know if a return to that pattern is the future I expect, but it's certainly the one I'm hoping for.