Additionally, once cars become sufficiently advanced, it will be much cheaper to insure a self-driving car than to insure a human.
Once the change happens, it will be breathtaking how rapidly it occurs. Social stigmas are hard to sustain towards a large portion of the population. In 2000, if you were wearing a helmet skiing, you were crazy. Now, you're crazy not to. You used to be a loser if you were on a social network. Now you're a loser if you're not. Both these changes happened over perhaps one to three years. Critical mass may only be ~5% of the population. You only need enough to avoid individuals being singled out as odd.