No matter how they’re marketed and used, self-driving systems will make people less engaged (that’s the entire point, people don’t use it out of arm fatigue, they use it because it’s mentally relaxing!) and therefore more distracted.
“The driver should keep their full attention on the road and be prepared to take over at any point” is an impossible standard and a lame-ass loophole that shouldn’t even be allowed to be cited in a court of law. Fully engaged drivers do not ask an “autopilot” to steer for them.