Earlier quoted context omitted.
What's your suggestion here? That garbage trucks don't pick up on streets without two lanes in each direction? The reality of driving is that there are a lot of these messy situations, and driverless cars need to be able to handle them.
They need to be able to handle messy situations at least as good as human drivers, which isn't necessarily a high bar. And importantly, unlike human drivers, autonomous cars will only get persistently better at handling these kinds of situations as they encounter more of them.
You might have an overly-optimistic opinion of what AI can do. Not to say that humans are not stupid quite often, but we are very far from having AIs that can be as good as a 4 years old child.
AIs are good at what they know and what they can account for. So yes, they will get better at what they know, but they cannot, by design, get better at what they don’t. So there will always be situations where they will be unbelievably stupid because their designers did not think it would happen. There is no solution to that at the moment.