This NHTSA report agrees with those numbers[1]. It reports 6,138,359 crashes and 3,246,817,000,000 Vehicle Miles Traveled in the US for 2023, which comes to about 530k miles per crash. The data comes from FARS which only reports fatalities, and CRSS which only includes crashes reported to the police[2]. It also only includes crashes on roadways (or from cars driving off roadways), not parking lots and other private property.
Again though, does that NHTSA report include "hit a garbage can" accidents or not? My strong suspicion is not[1], because they aren't required to be reported to anyone. So comparing it to an autonomy trial (which clearly is under such a requirement) isn't very informative. And putting it in the headline is straight up misleading.
[1] Source: I've hit a garbage can and told no one. Until this moment.
[1] Source: I've hit a garbage can and told no one. Until this moment.