If self-driving is better, then presumably cheaper insurance costs would be an incentive.
Different states have different rules about what sort of things insurers are allowed to charge different rates for. In the states that allow it, Tesla does offer insurance discounts for FSD usage.[1] Lemonade also offers discounts for FSD usage.[2]
1. https://www.tesla.com/support/insurance/fsd-discount
2. https://www.lemonade.com/fsd
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Different states have different rules about what sort of things insurers are allowed to charge different rates for. In the states that allow it, Tesla does offer insurance discounts for FSD usage.[1] Lemonade also offers discounts for FSD usage.[2]
1. https://www.tesla.com/support/insurance/fsd-discount
2. https://www.lemonade.com/fsd