I came to the conclusion years ago that we're going to need RFID tags on everything (or something similar) to make FSD work safely enough without AGI. We'll probably also need dedicated lanes in some places. Nothing I have read or seen yet has given me any reason to think differently.

Edit: The common counter-argument I see to this is that tags could be altered maliciously. My response is that we've already been building systems which scan for and filter out malicious changes for a long time, and we keep getting better at it. It seems to me like this kind of system would be far easier to design & update than any FSD software I know of.