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The bureaucracy is probably the larger hurdle. Snartphones don't really risk lives the same way cars do. And there are still a lot of people wary of the safety and capability of self driving cars. It could be hard to convince a city to agree to having them, and convincing every city in the US may take a long while.

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When they are proven to be considerably safer (a question of "when" and not "if" IMO), I highly doubt many politicians will want to stand in the way of allowing them on their streets... nevermind if Apple ever comes out with a car, it could quickly become a highly sought after experience.

I thought they have already been proven safer than human drivers. And yet people are still wary.

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