These two phrases are strange to me in the context of OP:
intuit the behavior of other humans through the theory-of-mind
and:
If AVs consistently act "unexpectedly"
Are you implying that the three specific incidents quoted by the OP are acting unexpectedly? I hope not. Most good, aware drivers would do the same. If you disagree, please provide alternative driving actions that you consider expected. And, would the safety outcomes be better? Unlikely.
No, I'm making a broader claim about the nature of AI in safety critical domains. I am also saying we should be careful about drawing strong conclusions from a sample size of n=3 from a potentially questionable dataset.
