I drive a lot across Europe: as in, really a lot, long trip across several countries, several times a year. I drive enough on the highways to know a few scary situations, like the truck driver in a big curve slightly deviating out of his lane and "pushing" me dangerously close to the median strip for example.
To me driving requires paying constant attention to the road and being always ready to act swiftly: I just don't understand how you can have a "self driving car but you must but be ready to put your hands back on the steering wheel and your foot on the pedal(s)".
I have nothing against many "recent" safety features, like the steering wheel shaking a bit if the car detects you're getting out of your lane without having activated your blinker. Or the car beginning to brake if it detects an obstacle. Or the car giving you a warning if there's a risk when you change lane, etc.
But how can you react promptly if you're not ready? I just don't get this.
Unless it's a fully self-driving car, without even a steering wheel, a car should help you focus more, not less.