When working in SF without self driving I would regularly not let myself block the box and I'd miss multiple lights. Police need to actually ticket people that do this. I've seen cops sitting at the intersection waiting to ticket people for bypassing traffic by using the carpool freeway entrance while doing fuckall about the blocked intersection causing people to want to choose the HOV option.
I understand that it's a part of driving that a self driving car would need to know how to navigate. But we really should just fix this problem through proper traffic enforcement instead of trying to make self driving cars participate in this completely shitty and unnecessary practice.