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Unlikely for quite some time.
That doesn't mean the driver can't be replaced.
A human can secure the load for quite a few vehicles in a given day. The robot can take the place of the actual driving. End result is still far fewer humans involved in the process, and significant money saved, because the drive time is still the time consuming, and therefore manpower consuming, activity.
Who's going to tie the load down and who's going to insure it's secirement between the shipper and receiver?
Straps and chains can and do get loose traveling down the road.