Cruise actually consider both social dynamics and uncertainty (i.e. what can hide behind an obstacle, or where are pedestrians/bikes/cars likely to move to).

If you are interested in self-driving cars, I can highly recommend their presentation from November 2021:

https://youtu.be/uJWN0K26NxQ?t=1467

For me it felt more convincing than Tesla's (a few months prior);

https://www.youtube.com/watch?v=j0z4FweCy4M