I am extremely skeptical that beacons, sitting out in the heat, and the sun, and the cold, and the rain, and exposed to whatever we use to maintain roads at that juncture, will not be "a wear item".
I do not think people have a solid grasp of how many millions of miles of road would need to be technified for self-driving cars to be widely viable.
Most likely, it's going to be a niche thing, tightly restricted to certain places that can afford to build and maintain the infrastructure.
https://duckduckgo.com/?q=road+reflectors&t=ffab&ia=images&i...
If we're going to beacon up a road, they easily make the most sense.
The interstate system already has working self-driving, even without any beacons. Inherently-safe roads like interstate freeways are already almost solved, and you can already buy a Chevrolet today that can self-drive the interstate system 99% of the time.
It's all the dangerous roads that need the help. The ones with bicyclists and pedestrians and parked cars and uncontrolled access and such.
Curbs, signage, lights, poles, drainage infrastructure, lower lifts of asphalt and granular material, ...are all non-wear items. This doesn't mean they never need to be repaired, but rather that they tend to get replaced after unintentional damage. Off-surface beacons (what the original comment suggested) would be in this category.
And you say "private contactors will save the day", please, stop drinking the Ayn Rand Cool-aid.