Trucking is low margin and complexity will increase costs. Some increases might be tolerated, while some other traffic may move to rail or air freight instead. In any case any increased costs are pretty much entirely borne by the end consumer so best avoid that as much as possible.
One of the other links had an analysis that an EV Semi could save ~$750k in fuel costs over the course of a million miles.
That alone would justify some complexity if companies are willing to pay more for faster delivery.
Then you have that one of the biggest expenses for a semi is the driver, so if you get rid of them, even for just depo to depo routes, well, another cost saver.
For self driving, they're already demoing it in Texas for semis, and there are driverless, as in no safety driver, taxis in SF and a few other cities. Now, they do have remote drivers available to take over, when necessary, but that's reportedly only a fraction of the time and getting better.
So if you're not going to be here for it to be "common", well, that might depend on what you consider "common"? Does 1% of trips count as "common"? 10%? 50%? Etc... Combined with how in good health you are. I'm retired, but I figure I'll live long enough to see it being "common".
For example, I'm willing to count Teslas as "common" at this point, because I generally see at least one when I go driving.