I don't think we quite need AGI to make something like a commercial urban taxi service work. For any given place, we can substitute a very large amount of training data. And I think we can get there through an approach like Waymo, where the taxi's number one job is to ask for central human help if it's in the slightest confused or at risk of causing harm. But even that will be a very long slog.
And for the supposed goal of "full self-driving", I agree that is basically AGI, because it requires levels of judgment that even humans struggle with. The other day I came across some Covid-related road changes and I had to reason about human intent as expressed in roads while exchanging human social signals with the people around me.
Brooks suggests we instead may see people trying to simplify the problem by banning humans and/or human drivers from areas where we want automated driving. That's anthema to me, but given the history of building to favor cars vs other modes and given the vast amounts of money behind these efforts, it wouldn't shock me that it turns out that way.