These are companies with big purses and lots of human-factors personnel, and lots of lawyers that can write huge terms-of-service agreements, and cover legal costs and damages in lawsuits until they get it right.
There are few better test beds for driverless cars than Phoenix metro, from technical, legal, and customer-concern viewpoints.
The basic answer is that, yes, at least until we all understand these things, they will have humans monitoring rides quite carefully. One person should be able to watch tens of rides at a time.
At the very least, there will be a panic button that will get human support very quickly.
I think people are not jazzed about your questions because this answer seems like common sense. And nobody, engineer or not, owes you an answer.
There are few better test beds for driverless cars than Phoenix metro, from technical, legal, and customer-concern viewpoints.