I like the idea of autonomous vehicles on Motorways/Freeways/Turnpikes/etc, but I don't see anyone discussing human-mediated "vehicle-to-vehicle" communication. In my everyday driving on city streets here in California (Silicon Valley!), I routinely make eye-contact with pedestrians and other drivers, sometimes as simple as "I see you; you see me", or perhaps a gesture ceding the right of way.
When AI can read human intent as well as humans can (however imperfect that is), then we will have competent L5 vehicles for city streets. Until then, I will use my (future) autonomous vehicle only on restricted access roads and be happy with that.