Abstract: Systems and methods for obtaining passenger feedback during an autonomous vehicle (AV) ride are provided. Feedback can be obtained in different forms during the passenger's ride. For instance, the passenger may opt-in to shadow the AV as it performs various driving behaviors. Input devices such as a tablet or joystick may be activated in the autonomous vehicle. A heuristic scene is selected and presented on the tablet, and the passenger can use the joystick to perform the maneuver as the AV is performing the same. The passenger's driving behavior does not alter the operation of the AV. Alternatively, the scene is different from the AV's route and the driving behaviors are not synced. Further, the passenger can be prompted to provide a response after specific maneuvers are performed by the AV. Feedback data is obtained and recorded from each passenger and then evaluated and compared to the AV's driving behaviors.