GM has announced self-driving cars with no steering wheels or pedals. Laws aside, this is significant move from a psychological safety perspective.
Steering wheels and pedals in cars have always signalled control to users. Even when they are not actively used in current self-driving cars, their presences says: I can take control any time I want to.
Removing steering wheels and pedals is a courageous act. And an inevitable one. For GM to do it so soon is (probably) a clear sign of the maturity of the technology.
(Screengrab of, and more information at https://www.wired.com/story/gm-cruise-self-driving-car-launch-2019/?mbid=nl_011218_daily_list1_p4)