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As connected, electric, and autonomous vehicle (AV) services are developed for cities, the research is conclusive that the use of these services must be shared to achieve maximum efficiency. Yet, few agencies have prioritised designing an AV system that focuses on dynamic ridepooling, and there remains a gap in the understanding of what makes people willing to share their rides. However, in 2017, the Australian transport authority Transport for New South Wales launched over a dozen trials for on-demand, shared public transport, including AVs. In this paper, we investigate the user willingness-to-share, based on experiences from one of these trials. Four focus groups (19 participants in total) were held in New South Wales with active users of either the trialled on-demand dynamic ridepooling service (Keoride) or commercial ridepooling (UberPool). Through thematic analysis of the focus group conversations, the cost, comfort, convenience, safety, community culture, and trust in authority emerged as factors that influenced the willingness-to-share. When presented with driverless scenarios, the focus group participants had significant concerns about the unknown behaviour of their co-passengers, revealing sharing anxiety as a significant barrier to the adoption of shared AVs. This paper identifies previously disregarded factors that influence the adoption of AVs and dynamic ridepooling and offers insights on how potential users’ sharing anxiety can be mitigated.