"A good driver does do all sorts of things that an autonomous car would have difficulty doing as well."
Can you cite some specific examples of things that humans could do easily that no reasonable amount of machine sensors and training could do as well? Because I strongly suspect there's actually very little true intuition (probably the one thing machines can't replicate) in driving and that it's mostly a matter of subtle cues we're trained to recognize: cues that a well-sensored machine could be trained to notice as well.