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Will self driving trucks hit the roads with nobody on board or will they keep a human supervisor?

According to the news self driving trucks are about to hit the road with no driver on board.

But according to this book that is not going to happen. The author says that the real purpose is to get rid of the skilled drivers and replace them with underpaid button pushers.

Will they really do that? What's going to be the situation few years from now?

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