Over the past years there have been many revelations that have made it clear autonomous technology will become increasingly prevalent in our communities. Despite optimism about the technology there is a high degree of uncertainty about how they will be deployed in urban environs, particularly with regard to street design. Based on the concepts of autonomy, livability and human scale design, this paper provides a dialogue of possible opportunities for street design in an autonomous future. This paper develops a framework for best practice, identifying policies including roadway design/thinning, curbside policy, and parking removal.