An example method for assisting autonomous vehicle (AV) riders reach their destination after drop-off can include receiving, by an autonomous vehicle (AV), a ride service request from a user, the ride service request specifying a pick-up location, a pick-up time, and a destination of a trip associated with the ride service request; navigating the AV to the pick-up location; providing the user a recommendation for where to sit within the AV, the recommendation being based on at least one of the destination of the trip, a drop-off location associated with the trip, environment conditions associated with the drop-off location, and an estimated egress location; receiving sensor data from one or more sensors associated with the AV; determining, based on the sensor data and the drop-off location, a pull-over location for dropping off the user; and navigating the AV to the pull-over location.