As autonomous vehicle (AV) innovation continues to gain worldwide momentum and with it the potential for expanded mobility, it is vital to consider how this technology can contribute to improved access for persons with disabilities, who represent one in four U.S. adults, or over 60 million persons. To date, there has been limited research focused on investigating strategies for designing and deploying self-driving vehicles so they can best accommodate the often diverse needs of persons living with one or more disabilities. This research discusses findings from a series of four autonomous shuttle rides followed by focus group sessions convened with adults with disabilities to document their direct experience as passengers during Princeton University’s 2019 SmartDrivingCar Summit. A core intent of this research was to gather feedback and recommendations on AV from persons with disabilities who had acquired a level of familiarity with the technology through a direct vehicle encounter, transcending their knowledge of AV solely as an abstract concept. Ultimately, the research team captured invaluable information on participant initial impressions of AV; their in-vehicle trip experience; interest in utilizing AV in the future; and AV-related concerns. Findings demonstrate that the majority of participants had both positive initial and post-trip impressions of AV and were extremely interested in utilizing AV to meet their current trip needs. Participants also offered insightful recommendations that can contribute to continued development of AV technology so that it can more fully accommodate the travel needs of persons with diverse disabilities.