I don't understand how you can believe that if you watch a few videos of self-driving cars navigating complex situations. Here's a good one: https://twitter.com/kvogt/status/1641123102858919953
They can't do this everywhere or under all conditions, and they still make plenty of mistakes. Still, if a Cruise car can navigate through a crowd of drunks who walking in the street, they're certainly capable of managing complex situations.
It goes around the car in the oncoming lane and forces an oncoming car to stop
still impressive how the car handled the overall situation. I don't think I would have done much better. (except for maybe that single situation you pointed out)
Humans have a lot of problems dealing with those states! It's why they're so difficult; funny enough a big reason why car insurance is a must but health insurance isn't. It's also why I believe we should aggressively push for driverless ecosystems, as fewer humans actually making decisions on the road = fewer potential problems due to the perplex human states.
Of course we are still a long ways from that goal, but it's hard to imagine a future where human drivers are still a thing. Makes more sense for the transportation network to be exclusively driverless and all following the same exact ruleset precisely. Again, thinking long term here not the next 20 years.