This is the route May Mobility https://maymobility.com/ is taking with their AVs. I'm not sure where they're at now, but (I believe) they started by servicing old-age communities where the trips went to a few known destinations in low density areas.

If the AV ran into an issue, it could tele-help and have a human operator take over.

Completely makes sense that you could have a person monitoring multiple AV trucks and take over driving when needed.