In Michigan, the lack of regulation around autonomous testing can be great. At first, you just needed a $30 manufacturer plate to do autonomous testing anywhere in Michigan, but I'm pretty sure they recently got rid of that requirement.

Level 2 autonomy is not exceedingly difficult to achieve either. If your car has LKAS/ACC or similar features you can port something like openpilot[0] over to your car.

[0] https://github.com/commaai/openpilot