No one will watch a competition between two self-driving identical Mazdas racing down the road.
That depends entirely on how it is presented. Over 13 million people watched these inanimate marbles[1] compete in a variety of races.
But if the software is different, sure, why not? The Robot soccer leagues had a league where the platform is literally identical, all teams buy some Nao robots from Aldebaran Robotics, they have a coloured indicator so you know which team is which - but the matches certainly aren't like watching a mirror, if one team has programmed a vastly improved dribbling strategy or the other team's ball tracking isn't very good, it's pretty obvious who wins that.
Humans can no longer usefully assist chess computers. So all a human is doing is attempting to obey simple movement instructions, which isn't even a sport.
Something simple to begin with: let computers play the odd moves and humans the even moves, without any communication. This way, the computer would need to play in a way that would make sense to their team mate.
With alternate strokes, the better player will not only execute their shot, they will arrange to leave a shot that their teammate can easily make.
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But all that being said, if such a game becomes popular, cheating will still be a thing as the team will always benefit from having the strongest possible human player.