You are correct but I think previous comment hung on specific word you used: "semi-autonomous". What that would mean is a system that still requires attention / supervision. What I believe you meant is an AV that still has human controls but is capable of unsupervised driving.

If you aren't familiar with SAE AV levels, check them out. It is a common refrain that L3 AVs are a SUPER bad idea because they would be 99.9% perfect at driving but could still mess up so 'drivers' of them would become too trusting and minimally attentive which would cause accidents.

The common thing is that L3 needs to be skipped entirely so a car should either be L2 and wouldn't be good enough to drive entirely on its own for long periods (lane assist, low speed traffic jam chauffeur, etc) or L4+ where the car can drive on its own but if conditions degrade where it can't continue it is capable of finding a safe spot to stop rather than aborting in the middle of driving suddenly.

The controls vs no controls isn't really an argument. Like you said, it will basically be fine either way if the system is sufficiently advanced especially if autonomy can't be disengaged while moving.