Sure there are niche markets where fully self-driving and self-driving only cars may make sense.

But they still need to handle fault cases: e.g. they cannot only rely on a beacon sent by traffic lights because that beacon or the whole traffic light might out of order. So, imho, while smart infrastructure may help self-driving cars and traffic management it does not allow you to avoid the "hard work", which to make sure self-driving cars will behave safely and reasonably completely on their own.

eh, my argument is that as long as they are intelligent enough to safely get to the side of the road, I think there's a very large number of people who would be okay with a car that "broke down" every 10K miles if it was otherwise great. (heck, I've been in some sort of breakdown or accident in an uber more often than that, even not counting app failures, so people would probably tolerate a lot more than that if the things were really self-driving.)

Note, you still have the safety problems to solve. You need to know how to get out of the road if the road infrastructure is on the blink. I'm just saying that "I don't know what to do so I will pull over" as long as it doesn't happen too often, is an acceptable answer.

more to the point, for "full self driving" even with infrastructure, the "don't hit unexpected pedestrians" technology needs to get way better. You probably can regulate transponders in cars. You probably can't regulate transponders on children.