What if we solve two problems at the same time by legislating that for some number of years self driving rigs have to have human co-pilots aboard (bear with me)... We'd still get most of the benefits of improved safety and 24 hour schedules and the humans could even do other work while on-board but they'd ostensibly be there to monitor the rig and take over in crazy situations (e.g. flat tire, fire, unexpected weather).
The flip side is that the public gets a (somewhat irrational but real) feeling of safety knowing that humans are on board... in the same way that I feel better about flying in a mostly auto-piloted aircraft because I know two people fully trained in the systems are trusting their lives to it.
So truck drivers turn into truck co-pilots for a few years, get an easier / safer job, and some of them retire during that time while we all get used to self-driving trucks on the road.
Say "twenty-three-skiddoo" to logout.