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Connected and Autonomous Vehicles (CAVs) are expected to bring major transformations to transport efficiency and safety. Studies show a range of possible impacts, from worse efficiency of CAVs at low penetration rates, to significant improvements in both efficiency and safety at high penetration rates and loads. However, these studies tend to explore efficiency and safety separately, focus on one type of a road network, and include only cars rather than other vehicle types. This paper presents a comprehensive study on impact of CAVs on both efficiency and safety, in three types of networks (urban, national, motorway), simulating different penetration rates of vehicles with multiple levels of automation, using historical traffic data captured on Irish roads. Our study confirms existing results that near-maximum efficiency improvements are observed at relatively low penetration rates, but reveals further insights that the …