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Passengers won't care, they'll be busy playing with their phones or working. All that useless time spent driving is suddenly productive, as if you were in a nice private train car. If a car passes the train on the highway outside, do you even notice as a passenger?

I think following the laws and driving calmly is a great benefit. Never once I have thought, "I'm so happy that Uber driver drove like a maniac weaving between lanes, and got me to my destination all of 4 minutes earlier. Yay".

Tesla seems to have no problem letting people speed with Autopilot, within reason.

Yes, that's such a massive issue. Ideally we would do away with simple speed limits and have more complex safety rules for self driving cars. Of course that won't happen for a very long time. Till then the issue you are describing will be infuriating to human drivers. Here in Oregon though everyone already is going below the speed limit, so I won't really care. As a passenger it also doesn't matter as much, since you at least can do other stuff now. I'm looking forward to the increased productivity while the car is driving itself.