As far as I know it can’t, although maybe some of the technology is transferable to a vertical shaft drilling TBM. I think Prufrock is designed for maximum ramp tilt of 18% grade. Part of the point is making “porpoising” cheap to eliminate a bunch of time and expense for digging pits with excavators and lowering the machine into a hole by crane.
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This design makes it possible to afforably build many more stations per neighborhood than a subway can achieve, which is critical for fully unlocking the value of the point-to-point personalized robotaxi service and get people to leave their ICE cars at home. It also allows for scaling tunnel construction much faster by allowing many Prufrocks to work simultaneously without adding extra cost.
The tagline is “Designed to construct mega-infrastructure projects in a matter of weeks instead of years”.
A Robotaxi network is a lot more useful when it is large enough to serve at least the downtown core of a city. If they have 100 Prufrocks they could descend into cities one by one, first across America and the going international, installing systems on the order of 10-100 miles and Tesla can simultaneously bring in the latest tranche of newly manufactured vehicles.