We're generating a whole lot more videos and fire department complaints about Cruise vehicles doing bad things at emergency scenes than you'd expect for such a small number of vehicles.
It's also the least structured portion with the least clear rules than any other part of the driving task, so it stands to reason it would be worse.
In 2022 there was about one formal complaint per week.
Hopefully, there has been a reduction in 2023.
My solution, would be to have free or low-cost self-driving (to keep the cost down) buses and ban cars including taxis. That should move a lot of people and clear out the streets.