Is the design of self driving cars so limited that we will have to go through this every time carmakers must redesign hardware and/or vehicles themselves? Will

Is the design of self driving cars so limited that we will have to go through this every time carmakers must redesign hardware and/or vehicles themselves? Will the experiences of a sedan be impossible to transport to the experience of a semi truck? And vice versa? The idea you present is possible, but I have to wonder how viable it makes the idea of self driving cars.