As a former truck driver, I just can't see the government or insurance companies allowing self-driving 80,000lb trucks on a highway that also contains passenger-carrying automobiles. The liability is tremendous and it will take a decade or more of safe operation before those rules are relaxed. I'd anything, a trucker will end up leading a self-driving convoy of another unit on the interstate, but I'd imagine it's simply easier to add additional trailers like we've done in Ontario.

I envision truckers being legally responsible for their AI and it operating the vehicle similar to autopilot in an aircraft. Never autonomous, only a driving aid.

Self driving highway trucks ending their trip at a collection point where human drivers take over makes a lot of sense.

No one would take the job of sitting unpaid in a truck all day, so that will never happen.