I think there's a ton of innovation left to be done regarding steering and light switches.

You're right that it's not going to be better designs, but paradigm shifts.

We still don't know what it means to provide input to a mostly self-driving car. It hasn't been solved and people continue to complain about attention fatigue and anxiety. Is the driving position really optimal for that? Are accident fatalities reduced if the driver is sitting somewhere else? Even lane assist still sucks on traditionally designed cars. Is having to fight a motorized wheel to override steering really all that safe?

Light switches may be reliable and never go away, but we have many well-established everyday examples of automatic lights: door switches, motion sensing, proximity sensing, etc. You never think about it and that's the point.