Pedestrians and cars ,self driving and human driven, often have conflicts. This is why driving in the city is so stressful compared to driving on the highway.

Maybe it would be better for Cruise , Waymo etc. to focus on highway-only self driving cars. I would like to board a self-driving car near a highway on-ramp and I would like it to drive me to my friends and family in another city; I would exit the car near an highway exit. For everything else, I could use cabs or Uber etc or public transport.