Wow, no you can't. For one thing, you don't have to deal with other cars when you're making an exhibition run up Pikes.
That depends on what you mean by "taking over". If someone falls asleep or has a heart attack while driving, "taking over" can just mean bringing the vehicle to a controlled stop in a safe location and turning on the hazards. In that particular situation, there also won't be much room for suing anyone if something goes wrong -- because had the vehicle not done anything, the situation would've ended gravely anyway.
Also, while you may not have to deal with oncoming traffic running up Pikes, you have to have a damn robust and fast perception system that is able to react to its environment quickly and safely ("oh, pothole on the right, better avoid that"), and you need to have a software capable auf autonomously controlling a vehicle in the most extreme situations (such as going round a curve on a dirt road at 60 miles with a hundred-foot drop on one side. I dare say that if you manage that, you'll be doing pretty well in "normal" traffic as well. Combine this with the expertise gained from the DARPA competitions, and that "long way" is already getting shorter.