Which insurance company, under whose policy? That's the question. It makes a big difference to the people involved, because it affects the policies they buy and how much they cost.
An insurance company would likely offer to cover all self driving accidents for free. This is because it would be a small cost to them, and would encourage you to use the self driving mode more often, which would cause you to get in less accidents.
Why WOULDN'T an insurance company cover all this stuff for free? It literally would save them billions.
Which insurance company, under whose policy? That's the question. It makes a big difference to the people involved, because it affects the policies they buy and how much they cost.