If the violations are intentional and easily fixable, then just pass laws/regulations requiring AV's to follow rules or else cease operations entirely.
If the violations are unintentional but happen only rarely in weird edge-case situations, then just set low frequency thresholds for them to be allowed, the same way we allow tiny amounts of rodent hairs in peanut butter. If AV companies exceed the threshold, then they get fined at first and eventually lose their permit -- but these aren't tickets for individual violations, but rather a yearly fine for going above the yearly threshold.
If the violations are intentional but not easily fixable -- e.g. they're stopping where not allowed because there's no legal place to stop within 15 blocks -- then the laws/regulations are bad, and tickets are essentially an unfair tax. That's the case in my city where moving trucks are essentially illegal, because it's illegal to double-park them, but there's usually no legal parking available within any reasonable distance that movers could carry furniture. So you just know that the cost of moving includes a "tax" of a parking ticket, unfair as it is.
Finally, if the violations are unintentional but happen all the time, the AV company should lose its permit because its software sucks.
I don't see how ticketing AVs for individual violations makes any sense.
EDIT: for those who think I'm letting AV companies get off too easily, it's precisely the opposite. I'm saying that if AV companies are violating traffic rules all the time and can't fix it, they should be banned. Ticketing is not the answer, because ticketing isn't holding these vehicles to a high enough standard. It's letting the companies get off the hook by merely paying occasional tickets instead of improving their software.