I can see driverless cars being designed for more household-like activities, as many will want to travel while they sleep, etc. Whether or not that prompts many to abandon their homes remains to be seen, but the changes could make it a more comfortable living space than a car of current design.
A driverless car still has to obey the laws of physics - it has to be aerodynamic. Sure, the interior of the car will change, but compare with other modes of transport that you can be on without driving: fights, trains, busses, even being a passenger in a car. I don't think it's a coincidence that in all of them, you're sitting or lying still in varying degrees of comfort, while working and/or being entertained.
Also, there an elephant in the room: The RV. It's great for road-trip holidaying, but not practical for living. I don't see how driver-less-ness changes that value-proposition drastically - although a road trip holiday with most of the driving done at night, while you're sleeping, could be awesome.