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"Self driving with driver assist" or whatever they call it when it isn't 100% automated is basically super fancy cruise control and should be treated as such. The main problem with the term autopilot is that for airplanes it means 100% control and very misleading when used for fancy cruise control in cars.
I agree that it should be limited in use to highways and other open roads, like when cruise control should be used. People using cruise control in the city without being in control to brake is the same basic issue.
Not 100% fully automated with no expectation of driver involvement should be allowed when it has surpassed regular drivers. To be honest, we might even be there with how terrible human drivers are...
Autopilot systems on airplanes make fewer claims about autonomous operation than Tesla. No pilot relies completely on autopilot functionality.