> I would have liked to have the ability to asymmetrically brake
Yes, I have been in that situation too.
As for brakes.. ABS is very bad at handling hard snow with a drizzle of fresh snow on top. It's nearly impossible to stop. I've had to actually turn off the engine in order to stop the car when driving (slowly) down a hill from a hotel in a certain snowy area, in order not to end up on the main road in front. That was with various rental cars (yes, I go to that place regularly in my job). The first time this happened I thought here was a technical problem with the car. So I asked around. Same experience from others. The cars vary, but they're all much worse than fully manual brakes, in certain conditions.
And then there was the time there was a reindeer (yes, a reindeer) running along the road, zig-zagging in front of the car. Snow conditions as described above. ABS refused to brake. Didn't want to switch off the engine (busy steering), so after about fifteen seconds of this I drove the car off the road instead, safely into a lot of snow.
And people want computers to drive cars, when computers can't even be used safely for brakes?
In any case, I've yet to hear about a self-driving car which can predict that another driver will get into problems in a few seconds unless I slow down or increase the speed, in order to allow a third car to adjust. This is something I see or do nearly daily, on my commute.