If you think governments can't simply legislate away people's freedom to drive in the service of corporate profits or what's "best for them", you haven't read the news lately.
Less drunk, distracted, angry, and/or sleepy drivers on public roads, with overall significantly less crashes? Sign me up!
I'm really beginning to get sick of seeing people use the word "freedom" when they clearly mean "no personal responsibility while living in a society among other people".
It's borderline impossible that they will "legislate away people's freedom to drive" anytime soon.
Even if a startup appeared tomorrow that could unequivocally show that they have a perfect self-driving car that runs on fairy dust and cleans up cities as it goes, people would still demand their right to drive ICEs.