An autonomous vehicle including a sensor system that outputs a sensor signal indicative of a condition of the autonomous vehicle. The vehicle also includes a communication system including a speaker. Based upon a profile of the passenger, the autonomous vehicle can determine that support is to be provided audibly to the passenger when the support is provided to the passenger. Moreover, the autonomous vehicle can detect occurrence of an event that has been identified as potentially causing discomfort to the passenger based upon the sensor signal output by the sensor system. Responsive to detecting the occurrence of the event, and in accordance with the profile of the passenger, the autonomous vehicle can cause the speaker to output an audible support message. Content of the audible support message is based on the detected event, and the audible support message solicits feedback from the passenger of the autonomous vehicle.