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Its probably a little more difficult than making the car take what we know as a driving test but it could probably be boiled down to some reasonable number of city and highway miles in various conditions (hard rain, snow, fog) and a small number of situations to make sure it doesn't run down pedestrians and deer at random. In that respect, the endpoints of a journey would likely be harder to deal with than anything else (ie. driveways). When it comes down to it though, humans are an amazingly low bar so while it would be nice to have perfect cars, it wouldn't be hard to save a few lives.

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