mm. so I don't think driving in cities is easier - I mean, it's certainly harder for a human to drive in a city; I don't see any reason why it would be easier for a machine to drive in a city than in the country.
Controlled environment? well-maintained roads? this doesn't sound like any city I've spent much time in.
I'm thinking like 101 seems reasonably straightforward, modulo the occasional construction, but once you get into san Francisco, there's a lot of dodging pedestrians, cyclists, skateboarders, shopping carts, stopped delivery vehicles, etc... It doesn't look nearly as controlled, to my eyes, as 101 does further out.