I live in New York and there is one such roadway I drive often. Palisades Interstate Parkway. The speed limit is 55 and there are no trucks allowed, but if you are driving 55 on this road you are in danger. You will get run off the road by everyone else traveling at a minimum of 65-70 with many of them 80+.
There may come a day where humans are completely out of the equation, but until that time I believe self driving cars are safer if they drive more like human drivers. That means keeping up with traffic and other human quirks.