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And I'm not even sure about the 99% number. I've been told that trains tend to be used for most longer distance shipping so a lot of trucking is relatively short distances. There are also a lot of reasons I can imagine for keeping a human in trucks even if the trucks could mostly drive themselves between depots.

You buy a bunch of truck stops, and use human drivers for the local portion. The truck stops become analogous to ship ports. The vast majority of the miles are then automated.

What if you bunched up multiple rides? Like a leader truck which has a human operator and multiple driver-less follower trucks that simply follow the leader.

Going to need drivers for each of those trucks after you exit the interstate.