First, nothing is "safe" in absolute terms. Literally everything a question of relative safety in comparison to something else.

Second I think you're still imagining something like the current road and street systems we have today. Replaceing and outlawing human driving will be at least a century away. By then the transit network will look very different.

The local "last mile" surface streets would have to be mostly bus like systems with very low speeds. In cities at least. In rural areas people at all wouldn't be allowed to walk or cycle on roads for vehicles. There would be seperate routes for that.

Highways will exclusively kind of psudo-road-trains, of buses and cargo trucks. Maybe the wealthy will have their own personal vehicles. Probably not most people.

Of course you and I won't see anything beyond the early stages of this transition.