In an earlier article, I noted that Cruise, in demonstrating their first robotaxi rides with no safety driver, did all the pick-up an drop-off by just stopping in the lane (late at night.) This is something many Uber drivers do as well, but it's not technically legal. Cruise is doing things one step at a time, but the SF MTA doesn't like that and filed an opposition to them getting a permit to operate the service with the public (currently they just do employees.)

Here's a Forbes.com article on the issues with doing pick-up and drop-off.

Pick-up and Drop-off are big challenges for robotaxis - so much that SF's MTA opposes Cruise operation