Wouldn't something like Westworld road system easier? Basically, almost all the cars are self-driven, and it's more like a public transit than anything. Essentially, a closed system. (Easier in the technical sense, not the implementation (politics, ...)).
Even if that were easier, there’s basically no way to get there without full self driving capable of working around human drivers. The reason why cars are convenient is due to the existing road network, and any deployment of self driving cars is going to have to function on existing road. If you tried to segregate the system, you would have to close some of the existing roads but this would mess with regular people and result in a very small network of pure self driving roads.
