I will place a very large bet that this will never happen. 20,000 pphpd is metro levels of service and the idea that you can run that with individual 12-person vehicles is, to put it mildly, fanciful. The existing stations and tunnels definitely can't support that, not least because some of the connections only have one tunnel, there needs to be traffic lights to control which way cars are flowing through it. You can't run 20,000pphpd with a single tunnel. The existing stations can't support vehicles arriving and departing every 2s, there's just not the space to load and unload that many vehicles. Metro stations can support that because you have a single vehicle with multiple doors. How are 2 vehicles per second going to enter the station, peel off to an empty parking spot, unload & load and rejoin the flow without taking up vast quantities of space? I just can't see how the fundamental logistics of it work.
Is the intent that the existing system gets completely rebuilt to support that level of service?
20,000 in 12 seat cars is 1,667 cars an hour, a motorway lane can take about 1,800 cars an hour, however that's with limited traffic constraints - chiefly grade separated junctions with limited traffic merging/diverging at each junction.
As such, whist it's possible, not with the current layout built, i don't know about the future tunnels and stations, but if their "within" the tunnel it's not going to be feasible.
Also, the time penalty of getting into a car which stops at a station which you do not wish to go to because another passenger is joining or leaving would be significant even if that's 4 rows of 3 seats in a car like setup and no one is ever blocked in the load unload time vs (say) a tube train would be noticeably slower.
Since we have “car brain” I think we need to have “rail brain”.
Having the cars operating autonomously has been feasible since before opening, that they aren't autonomous is mostly an issue of local laws and Tesla solving for a more general environment and not wanting to use "crutches" to get the system working in the much more constrained environment of the Loop system. It some point in time both those issues will be sorted out and the system will be running 24/7 with unmanned cars and larger vehicles. The lifetime costs of cars is lower than for rail, precisely because it has a much lower requirements for the quality of the running surface, no points, limited signalling and no electrification.
The Loop was even an idea 8 years ago and is continuously evolving. It's much better to evaluate it against the operators objectives and direction of travel rather than against what it is currently doing.
At the moment it is a taxi that doesn't get stuck in traffic and is priced as such, once it starts to go to many places in the city it becomes more useful, take the drivers out and the cost per ride goes down. At this point demand will likely ramp up massively and require larger vehicles. A 12 seat vehicle with a 2 second headway is 20,000 seats per hour per tunnel.
As I've said above 20,000 seats is technically possible, but not in a tunnel, station, tunnel, station in line layout, you'd need the stations to be offline and grade separated junctions - which is going to significant increase the costs.
If you keep it in line you're going to reduce capacity significantly.
As I said a motorway lane can do 1,800 cars an hour, most urban roads are around 1,000 and even then the majority of movements would be going straight, where there's a need for lots of movements to/from the side the land space increases very rapidly.
That's not to bad if you're building a new housing estate and adding a roundabout, but underground that's adding a lot of cost. Even using a traffic signal junction which is more compact, most junctions start to add second lanes to facilitate the volume of traffic through the junction.
However, it's not uncommon for metro rail services to run at higher than 20tph, in London there's 7 lines which run at 24tph or higher and whilst some per train capacities are fairly low at around 750 (but they run at 30tph, so have an hourly capacity of 21,000 and you'd almost certainly not be designing a system with 130m trains, but rather 200m long trains which significantly increases capacity), it's not hard to have trains capable of moving 1,100 people at 24tph which is nearly 1/3 more capacity and trains able to move over 1,250 people and at 30tph where you'd certainly need two tunnels of cars as that's around 190%.
Clearly for a city of limited size compared to (say) London that's not an issue as 20,000 movements each way is (for UK traffic) for a city of 700,000 is around 20% of all peak hour movements and so is never going to be fully tested in terms of capacity.
But then, why bother with tunnels, create 10 bus routes with 6bph and significantly reduce car usage and benefit everyone with less congestion.