Your entire outlook of the world around you is distorted by your antipathy to everyone in it who manages to accomplish anything.
Neither Uber nor Lyft have managed to post a profit. So far, the only people who have benefited from their operation have been their drivers and their millions of passengers. Yet, they are the Bad Guys in your world.
Uber and Lyft do not own the cars that provide rides. Not now, and not when cars become self-driving. In the near future, when I "work" for, say, Uber, I will know I have a passenger when my garage door opens and my car drives away. Later, my car parks itself back into the garage and some money will appear in my bank account.
Truck drivers will have the same opportunity. Trucking companies own very few trucks, only as many as can be kept on the road during the slowest part of the season. The rest of the time, they use Owner/Operators to cover their needs.
When trucks become self-driving, the truckers will still own the trucks and still get paid to lease them out to the trucking companies. They just won't have to actually drive them any more.
Your "robot tax" will end up hurting the very people you purport to be concerned about. But then, that is generally true of most taxes and regulations put in place to "help" the Little Guy. The people who end up getting hurt the most are the very people they are meant to be helping.
When I was in High School way back in the 1960s, I was constantly inandated with rumors of how the new computers would put everyone out of work.
And it turned out to be generally true--millions of jobs were destroyed or severely altered. So, I went on to eventually become a Software Engineer, a position that did not even exist when I was in High School.
Yes, automation will "destroy" many, many jobs--even entire industries. We know that. What we don't know, what we can't know, is the many more jobs and industries will be created by that same automation.
You may now get on with your life and quite living in fear.