As everything, it is a tradeoff. I would personally prefer not to have neither drunk drivers, nor overhyped smart-vacuums going around the roads.

But as for the very specific emergency case while you are drunk, it could be overridden with some visible sign turning on notifying other drivers - but it would need some law background, so eg. a cop can escort you in that case, etc. But tesla’s fake self-driving doesn’t help anyone.