This is generally the problem with self-driving cars, at least in my experience (Tesla FSD).

They don't look far enough ahead to anticipate what might happen and already put themselves in a position to prepare for that possibility. I'm not sure they benefit from accumulated knowledge? (Maybe Waymo does, that's an interesting question.) I.e., I know that my son's elementary school is around the corner so as I turn I'm already anticipating the school zone (that starts a block away) rather than only detecting it once I've made the turn.