> As we are building more infrastructure, we could endeavor to do it in ways that make it easier for cars to drive autonomously, with things like grade separated or other protected bike lanes, clearer signage, and other accommodations that will make things easier and safer for human and ML drivers.

At least in the US, my major concern would not really be building it right the first time (though there are plenty of places where we don't even do that), but maintaining it over time.

Many jurisdictions can barely keep the paint legible on the roads, so autonomous cars are just going to have to deal with poor or deferred maintenance.