I disagree that the safety concerns have to be on an individual basis, no other driving regulation works on that basis. They are based on the statistical likelihood of an overall reduction in damages or risk. You as an individual might be safe driving 10-20mph over the limit, but the limit is there to cover a variety of road conditions and road users.
The self driving system just has to fulfil those criteria, being that overall having it is safer for the average road user than not. It, also, is not the fast-growth tech companies that decide that.
Individuals are unlikely to give up their control unless the alternative is clearly substantially better. And, as you say, there are other larger interests beyond individual preferences that need to be overcome too.
Regardless, as we have seen many times with other technologies, I think that convenience will be a much stronger driver of self-driving acceptance than the safety benefit.