Instead of making their cars more human like self driving companies could start a campaign similar to the one against jaywalking 90 years ago. This time against human driven cars.
Yes, I think this is the solution. Do not conform to the pre-existing culture. Force a new one. Through marketing/consumerism, sheer numbers of self driving cars on the road, I don't care. The current culture needs to die. It's cool that it got us here, but it has so many drawbacks that it's not worth using as a starting point for a new generation of autonomous vehicles.