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Could just have a human driver. I think the impromptu routing would be the thing that works best for suburbs.
3 human drivers 24/7 would be too expensive. And suburb subdivisions are perfect for autonomous systems, it's a very unchanging route with rarely any other people or cars on the road and the speed limit is already capped at a very low number
do that and make trips to or from a train stop half price to encourage using it as a last mile to funnel into a public transit system
You want the shuttle available as completely as the bus.
In a given neighborhood there could be many hours only a few / no people need the shuttle. It would be hard to staff.
Be cooler to make a protected shuttle lane where the shuttle operates under very strict controlled parameters.