You can't do it with autonomy, and you can't do it with remote piloting, but you can do it with a mix of both. That's my assertion. Spending 20 hours looking at Nebraska / Illinois farm fields is not the use case for remote operation - and as you say, you lack the infra for that anyway. And navigating traffic or interacting with distribution center logistics is not the case for autonomous operation - it's an infra nightmare to get a autonomous vehicle to integrate with all that radio-voice-comms madness. Even OTR drivers just want to get that part of the journey over with and get back to the hotel.
Having a pod with local drivers near major hubs, for example, means the drivers take over when the trucks get close enough for it to matter. It wont' work for delivery to, say grocery stores (which can be local driving anyway), but it will work for center-to-center transport ala between Walmart hubs. It's the long haul OTR trucking that has high attrition / people shortages, because you're away from family for so long. That little bit can be somewhat autonomous, with handoff of remote operators only near hubs. Think air-traffic-control for trucks and hubs, except probably more hands on than just telling it what to do.
Even without full autonomy, truck platooning has been shown to be effective in places where they have been tested. One human driver and "autonomous" followers. These truck platoons could be the solution to long haul deliveries while individual drivers still handle the last mile delivery and city navigation.
Having a pod with local drivers near major hubs, for example, means the drivers take over when the trucks get close enough for it to matter. It wont' work for delivery to, say grocery stores (which can be local driving anyway), but it will work for center-to-center transport ala between Walmart hubs. It's the long haul OTR trucking that has high attrition / people shortages, because you're away from family for so long. That little bit can be somewhat autonomous, with handoff of remote operators only near hubs. Think air-traffic-control for trucks and hubs, except probably more hands on than just telling it what to do.