Not to mention that with the self-driving cars working as a functional panopticon, doing this and getting away with it for lengths of time is unlikely.
Even ignoring the privacy-scary scenarios of the car auto-emailing the cops to say "Dear local PD, this guy just jaywalked and halted traffic on Oak Ln, here's my [sensor gestalt] to prove it and a [photo of the offender]", it'd be pretty trivial for anyone owning a fleet of these machines who was tired of jaywalkers slowing down their commute to dump data on jaywalk-stops in the aggregate, giving cops all the numbers they need to target enforcement.
Also belgium and germany. Getting too close to the street/sidewalk interface will often cause cars to stop even if you have no intension whatsoever of crossing.
On a serious note: I'm sure strolling into highway traffic will be approximately as legal as it is presently.