Re: They kinda do and kinda don't
Don't be too sure and the motorway is where it will begin. Because of the nature of them they will be the first roads licensed for your autonomous capable vehicle to drive in autonomous mode along. You will have to take control getting too and from the motorway. Then it will be extended to dual carriageway A-Roads, assuming foreign built autonomous systems understand the concept of 'roundabout'.
You are correct that autonomous cars being used for entire journeys or as no driver taxis in city centres is a very long time away. But just as cruise control and lane keeping is accepted, so autonomous driving when conditions allow. Using cruise control and lane keeping on a single track road with passing places in the Scottish Highlands or Islands would be contraindicated after all. ABS however should be enabled and parking assist might be useful for reversing back into a passing place.
It is possible that autonomous cars will negotiate between themselves as to who is closest to the passing place better than humans but I can see problems with one human driver and one autonomous. And how an autonomous system will deal with locals in large landrovers who insist the road is a dual carriageway will be interesting.
As for townies who quake in fear at the first sign of a country road with, gasp! corners and pootle along at 30mph on an open road (it happens) an autonomous car would be a boon, they can close their eyes.