Seems logical to deduce that a safety driver will always be required. For people who otherwise lack the physical ability to drive (blind, lacking limbs, LR trolls, etc) a certified safety driver (aka copilot) will be required, something like mind-numbed taxi drivers. The safety driver would be the object of legal remedy, who is liable at least initially for any accident unless they can prove the tech was at fault. Still, they would be sued first.
Insurance for accidents, and there will be many contrived by genius criminals or dummies, will have to the subsidized by the autonomous industry with new laws enacted to prevent the most egregious opportunists. Limits will have to be set.
Also given the nature of both criminal and state-sponsored hacking (China, NK, others) a couple of mass "accidents" could cause real chaos. Think of what chafe does to radar. The possibilities are endless, human life not so much.
Tech is good, but I think autonomous driving at best is a band aid, and a very expensive one at that. It is thinking inside the vehicular box.