We're inevitably going to have delivery trucks, buses, fire engines, some number of pickup trucks (or comparable), etc. on city streets, so under the circumstances we should try to make them as safe as possible (whether by forcing them to be lower to the ground and have more windows in front, requiring them to add cameras, limiting their weight, giving them a slower speed limit, limiting where they can park, ...). The owners of such vehicles should also be required to pay for the external costs their choices impose on everyone else.

Instead we effectively subsidize these vehicles by giving them special tax breaks.