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On the interstate, absolutely true.
For urban environments, you have to add in bikes and jaywalking pedestrians.
And really dense urban environments like SF and NYC have additional issues.
On 'side streets', there are so many double parked delivery trucks, for instance, you sometimes have use the oncoming lane of traffic to go around them.
So there is no way to follow the letter of the law, and sometimes it's not clear if the oncoming traffic is going to wait for you.
If you want to wait for a huge gap in oncoming traffic, you can wait a long time.
If it was all driverless, it would be easier.
If people's Bluetooth, smartphones broadcast their location as a pedestrian, bicyclist, that would help a little bit.
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