I think that's why even though we may see "full autonomous" the car manufacturer will have to get the driver to agree to always be aware and ready to take control. They can avoid the trolley problem if the car computer nopes out and puts the control back with the driver.
The minefield is claiming you’re not in control of the vehicle, when you’re in fact are (can easily be found out tho).
Secondly, you’re still in control, you let the car drive but still have the power to grab the steering wheel and brakes when you see a collision.
I reckon the last parts is why it’s a minefield.