You're describing a traveling salesman problem - which there are plenty of working solutions (even if we don't know the best solution yet) And then an autonomous forklift problem - there are a few companies already making them. And packaging + placement can simplify any issues if they exist. Maybe throw in a robotic arm in the back of the truck for good measure.
Autonomously refilling a tank of gas could be a fun problem to solve. But full service stations already exist. Those should be able to stand in until there is a better solution, such as Tesla's battery swap stations but for trucks.
Now, without a human driver the trucks can be working 24/7. No need for sleep. Which might be worth it even if a human accompanies the truck and just sleeps in a back section. Also who wants to pay a person to drive a truck, when the truck can drive itself for free?
I agree any sort of driver assistance tech at level 3 and below is beneficial for public safety, I am not sure it's an industry game changer.
Most of the automation efforts revolve around "drive on the highway from point A to point B" scenario. If you have a container that's that simple, rail is much more cost-effective.
Trucking has fairly complex loading/unloading requirements, with scenarios such as "haul 8 vehicles, unload them at 8 different addresses", "haul a load of tomatoes and lettuce, do 5 drops at In'n'Out locations, 1 at Safeway, 1 at Albertsons" fairly common. There's an understandable lack of trust in the system, where the trucker is also responsible for ensuring the staff on the recipient side is not unloading (i.e. stealing) too much or helping themselves into another customer's load.
There's also "stop and wait your turn at weight stations", "stop to refuel" as well as "stop at random checkpoints when crossing state borders" scenarios that seem to require just way too much of human involvement.