Here I am talking about The United States mainly but I suppose it could apply to Canada as well.
There would have to be expressways (East Coast, Midwest), freeways (West Coast) where whole lanes were devoted to self driving vehicles or the whole expressway/freeway would be for self driving vehicles. This could be managed by a computer system that linked to the vehicles. This system would control the traffic flow. I believe this would be very efficient. How you can mesh self driving vehicles with what we have already, human driven vehicles ( cars, buses, trucks, motorcycles and bikes ) is a problem.
Here is one vision: https://www.citylab.com/transportation/2017/07/will-autonomous-vehicles-lead-to-a-resurgence-of-auto-centric-infrastructure/534804/
Here is a vision for trucking: https://www.123loadboard.com/blog/driverless-highway-proposed-brings-autonomous-trucks-closer-to-reality/
I'm sure people were skeptical about robots on assembly lines at first but they are now common on assembly lines. Many technological advances are met with resistance at first. Think about John Henry "The steel driving man". People do not trust what they cannot control.
I think in the future there will be highways, expressways/freeways dedicated to self driving cars and trucks. It's inevitable. It depends on if we have a future. The world may become uninhabitable for humans sooner than we think unless something drastic is done right away about the climate.