Yep, I talk to people working in traffic engineering, and their mindset is always building new road tech and road-side and cloud infra to support autonomous driving. They have no expectation of fully autonomous vehicle without road and infrastructure assistance.
And from historical perspective, the coming of automotive and the replacement of horse and other animal carts, are exactly facilitated by the road transformation; which has been the single largest scale infrastructure in human history.
It makes no sense that an even bigger transformation of the vehicle would require less drastic road transformation.