Its not just plastic bags and fringe error cases. As a driver you know that you sometimes have to break the rules. Say an empty truck is parking on one side of the road, blocking the lane entirely, to overtake him you need to make an illegal maneuver overtaking him or stand there holding up traffic for everyone. Or one step further, you have to make room for an ambulance,. I dont think there is a realistic scenario were all rules to drive in normal traffic can be sufficiently covered.