The difficulty of the situation in general is why limitations should be placed on the system and a conservative approach taken in practice. Trying to circumvent difficulty with complexity is not an option for the first roll-out of a product.

Deploy self-driving on marked single-lane AI-only highways. Maybe let self-driving cars use bus lanes. But that's it for now, until we can certify and understand limitations of a system. It's only fair to the public to have slow rollouts that require mostly-attentive driving.