The Tesla self driving feature actually is a problem. No other companies advertise a fully self driving technology though they are being treated so by their owners. Like I say - this is ALL about software with is my strong suit and you cannot make an all encompassing system that can see far enough around you and take into account what really stupid things people will do.
https://www.caranddriver.com/news/a44185487/report-tesla-autopilot-crashes-since-2019/
Yesterday on a 30 mile driving in twilight leading to dark I watched everything from motorcycles passing dangerously to while I was driving behind a guy who was driving 10 car lengths behind a car that was riding on the bumper of a AAA wrecker, slow up for no discernable reason. Since we were going 40, I was driving 4 or a bit more behind him so it wasn't as if he was getting irritated that I was tailgating him. After he did this for the 30th time, I moved to the open lane on the right and sped up to 40 mph at which time this guy accelerated and acted like I was going to pull in front of him even though my lane was wide open. He drove straight up on the bumper of the car in front of him who was tailgating the wrecker. I had to pace him so that he didn't pull in front of me again. AFTER I passed the wrecker and he could pull over if he wanted he continued from that point a car length or less behind the car tailgating the wrecker. Since there was NO reasoning behind any of this but some sort of animal reaction possibly to challenge which wasn't there, there was no reasons for his actions and a self driving feature would be reduced to thinking it had superior reaction time to a human driver which is impossible because it is reacting and not acting.
In my entire life I've had three auto accidents and all three were when I was having seizures due to the concussion. I am a very good and careful driver. I watched actions yesterday that used to bring cops from miles around. Now they are too commonplace for the Highway Patrol to worry about. Today, cars in the high speed lane doing 15 or 20 mph over the posted speed limit don't even slow down when they see the CHP at the side of the road.
So do not believe that you can get a "self driving" feature to work as long as there is one single human driven car or truck. Though I will say that long distance truckers are generally very careful drivers.