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That's incorrect; Postmates, for one, uses Phantom Auto (https://www.forbes.com/sites/alanohnsman/2019/09/23/postmate...), and they definitely operate on public roads.

There's a bit of difference between a 100lb Postmates vehicle moving at 3mph and a 10-ton truck moving at 65mph.

The former could annoy you, the latter could kill your entire extended family.