We said you can’t have horse drawn buggies on highways, I don’t see why you couldn’t have a similar rule for automated vehicles 50 years from now.
This would be taking something away from drivers. And that’s what people hate. Look at the responses to congestion taxes or toll roads. Or even traffic jams!
People behave as if they have a right to use any (seemingly) public road just because they have a car. Even private toll roads.
It’s not feasible.