Not remotely possible for anyone using public shadow and safety driving for primary development and test to get to L4. And use of gaming based simulation systems won’t help either. Only path is to leverage aerospace/DoD/FAA simulation technology and systems/safety engineering practices.

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SAE Autonomous Vehicle Engineering Magazine-End Public Shadow Driving https://www.nxtbook.com/nxtbooks/sae/ave_201901/index.php

Using the Real World is better than Proper Simulation for Autonomous Vehicle Development — NONSENSE

Using the Real World is better than Proper Simulation for Autonomous Vehicle Development — NONSENSE

The Hype of Geofencing for Autonomous Vehicles https://medium.com/@imispgh/the-hype-of-geofencing-for-autonomous-vehicles-bd964cb14d16