I think a lot, if not most, of driving citations result, not from people being unable to drive in a legal manner, but from people prioritizing other things over driving in a legal manner. Assuming that Google's algorithm prioritizes safety over legality if there's a conflict, their record does make a good example for the people arguing that conflicts involving risks to human life are unlikely to occur in an all driverless future, but what the rate of current traffic citations says about the human preference for having other priorities suggests that an all driverless future is, itself, an unlikely occurrence. Personally, I guess that most people who prefer driverless will be happier with trains.