"a vehicle is "driving itself" if it is operating in a mode in which it is not being controlled, and does not need to be monitored, by an individual"
Problem is that there will always be extreme cases which require human intervention.
For instance, a complex road junction has major roadworks on it. Someone installed the signage badly, one of the lights has broken, a sign has blown down, and a vandal has moved another sign to the wrong place.
There is simply no way for an automated vehicle to work out the correct path to follow. It can only stop and ask for help.
Of course that might come from someone connecting remotely (especially if the car has no passengers at the time). But that in itself can be very tricky, trying to work out what's going on just seeing via cameras.
If the assistance is coming from the passenger, who is currently half asleep, blind drunk, or is using an automated vehicle due to not having a driving licence or being disabled and physically unable to drive, then it's going to make some lawyers very rich.