I always run into this issue in downtown Seattle. There are a few places (and one major one I can think of on 5th) in which the roads do this:

     |0|1|2|3|
    _| | | | |
       / / / /
    _ / / / /
     |1|2|3|
     |1|2|3|
     |1|2|3|
     |1|2|3|

Unfortunately, the diagonals are marked incredibly poorly, so most drivers starting in lane N will go straight and end in lane N-1. So if you drive according to the law in lane 1, you would almost certainly get sideswiped eventually by someone going straight in lane 2.

I suspect an AI driver would be astute enough to see the poorly marked lines, but most humans aren't! So the AI would frequently get sideswiped here.

> roads have deteriorated to the point where it can be difficult to spot road markings even as an experience driver

Yes, but apparently self-driving systems are doing a worse job than humans. But this only means the AI isn't quite there yet. I say AI, not sensors, because their vision is probably already better than human's.