every year due to truckers that fell asleep or weren't paying attention (I know, percentage wise there's a lot more idiot car drivers than semi-truck drivers, but the odds of a fatality increase when there's a semi involved).
Anyway, trucking companies that don't adopt self driving, assuming it isn't government regulated to do so, will be sued when their drivers continue to have accidents at higher rates than the self driving trucks. There will be lots of accidents that could have been prevented.
I don't see how anything else you bring up is an issue related to self driving trucks. The trucks are already on the roads.