mm. so I don't think driving in cities is easier - I mean, it's certainly harder for a human to drive in a city; I don't see any reason why it would be easier for a machine to drive in a city than in the country.
I'm thinking like 101 seems reasonably straightforward, modulo the occasional construction, but once you get into san Francisco, there's a lot of dodging pedestrians, cyclists, skateboarders, shopping carts, stopped delivery vehicles, etc... It doesn't look nearly as controlled, to my eyes, as 101 does further out.