One tractor carrying larger loads is going to be more efficient than many small trucks with smaller loads: total weight over payload.
A human being can only safely handle so much cargo, and that's probably lower than could be automated.
That doesn't require an increase in axle weight
If you don't have a driver, then the vehicle amounts to just a couple motors, batteries, and sensor arrays.
It doesn't make a difference if the battery is located in the front "truck" part of the convoy, or whether it's distributed throughout the trailers.
For a very long chain of trailers, you probably want a set of motors for every trailer right?
And as you've speculated, there's going to be a sensor array in every trailer.
So basically, you have motors in every trailer, batteries in every trailer, and sensors in every trailer. At that point ... why do you need a "truck" on the front and/or why are they connected at all?
Then you don't:
- have the unnecessary truck cab in front
- cost of the trailer being unused while loading / unloading
- potentially drastically change shipping containers received from over seas.
You usually have a 100-500hp diesel running a big pump and hydraulic motors at the wheels.
But definitely that's less of a factor with an electric truck since the charging cost will be a lot lower than a comparable amount of fuel.
- Removing the driver allows for more aerodynamic cab configuration, or no cab at all
- Electric motors are more efficient, particularly in high-torque / low-rpm environment
- Massive & inefficient 18-speed gearbox can be avoided
- Cost of fuel itself (electricity) is much cheaper
ISTR a case where a large open pit mine bought GPS-driven trucks and saved a great deal just from longer tire life (each tire was $20K).