Also I got to know the rules of the road much better than before and could adjust by behaviour to follow the law. I didn't go over red lights before, but there are a bunch of other things where cyclists don't tend to follow the rules of the road and IMHO it creates a much less stressful environment for everyone if they just did so.
This is a very important difference and that’s the main reason I yearn for self-driving cars. Current vehicles are horrible to see where you are driving and drivers are in denial about it. At least, when you have engineers trying to represent a scene, they gut reaction is “No way I am dealing with such a slim view, I”m putting the camera where it can see what’s happening.”
It's always worse when large vans are parked up and down the road so visibility is obscured.
Nothing raises your appreciation of the difficulties faced by a group more than belonging to that group in a real and physical manner on a daily basis.
Not that I think it would be implementable: Humans are remarkably good at rejecting constraints.