The law/insurance industry has already resolved the similar issues involved in vehicles using those notoriously dangerous explosive chemicals 'petrol', 'diesel', and 'LPG'. Of all the issues around autonomous/EV.vehicles, I would rate insurance as minor/trivial.
There are issues to be resolved, but many of the objections voiced here are of the 'the sky is falling' variety.
Given that no actuarial tables exist for fully autonomous cars, I would suggest that the premiums will be pretty high until such statistics have been established.