The rapid pace of development will certainly cause a lag in the law (think consumer drones), but this has been true for every disruptive technology. Because consumer demand will be massive, the technology will dictate the law, not the other way around.
The infrastructure requirements are not nearly as substantial as once thought as the technology has demonstrated a remarkable capacity to adapt to existing conditions. I can foresee modest changes to road design and construction, but nothing radical.
Think about how disruptive this will be to many established industries (insurance, law, auto body repair, common carriers, etc.). Exciting stuff.