We already went through this with airlines and decided to require pilots fly a certain number of hours without the automation, so when automation fails they are able to control the aircraft with some confidence.
As it is self driving cars are a luxury item for experienced drivers but I fear a future where a plurality of people panic when control is handed over to them once the computer determines the situation is too risky to continue on autopilot.
Some great backstory on automation in airlines is 99% Invisible's "Children of the Magenta":
https://99percentinvisible.org/episode/children-of-the-magen...