As an additional safeguard, you can make your trucks go into 'safety' mode when connection becomes spotty or when too many operators become too busy with other trucks.
'Safety mode' could mean slowing down the trucks or even stopping some of them. And in general, letting the autonomous systems err on the side of caution more often.
Regarding the minimal risk condition / fallback behavior, a central point of the article was that slowing or stopping are almost always unacceptable on freeways because of the speeds involved
But jamming GPS is both highly illegal, and a high powered jammer is relatively easy to track down.
Unlike autonomous cars where everyone needs to go wherever, inter city trucks have fixed well known routes with predicable volume of cargo that can be easily chained together.
Bulk freight trains solve that problem already. Simply use flatcars or intermodal containers then use rubber tyred trucks in the last kilometre.
Given the realities we have , road trains is probably what we can realistically achieve I think .