Not at a moment's notice. The automation must react during emergencies, but humans can navigate and solve stuff that the automation can't.
As soon as the car sees it cannot proceed properly, it parks somewhere or go in a safe situation and requests a remote human operator to intervene. Then the whole point is to have a call center sized so that you do not have to wait too much.
We're not there yet, and giving back the control to the passengers is also a possibility. However, in a world where passengers almost never drive, it might be safer to give the control to trained remote operators.