I'm thinking more like a semi truck. Get onto the freeway on-ramp, pull over and get out, then the truck continues on without you for miles before taking an off-ramp where a driver is waiting to handle the nearby streets. I expect truck stops in rural areas will (with DOT help) get special on/off ramps that are approved (maybe a special stop light?) so that trucks can go to a full service pump for fuel and get back on the freeway.

As you say, city driving is hard, but there are a lot of trucks that cross the US on freeways that are easy to automate.