> especially when I see some obstruction ('behind a tall SUV', was the waymo overtaking?)

Yep. Driving safe isn't just about paying attention to what you can see, but also paying attention to what you can't see. Being always vigilant and aware of things like "I can't see behind that truck."

Honestly I don't think sensor-first approaches are cut out to tackle this; it probably requires something more akin to AGI, to allow inferring possible risks from incomplete or absent data.