As long as connectivity was 'good enough', the car could have just enough self-driving capability to safely pull over in the case of an interruption. Would still need to be some nines, but wouldn't need to be utterly perfect.

I don't think safely pulling over a car is any easier to automate than the rest of driving. Those are some of the most complex maneuvers where you're at least as likely to hit a civilian or another car as driving down the street.