The deployment of automated vehicles (AVs) has the potential to disrupt and fundamentally transform urban transportation. As their implementation becomes imminent on cities’ streets, it is of great concern that no comprehensive strategies have been formulated to effectively manage and mitigate their potential negative impacts, particularly with respect to the components of the do no significant harm (DNSH) framework recently introduced in the EU taxonomy. The methodology employed comprises three steps: (i) An extensive literature review on the impact of AVs on the DNSH components; (ii) exploration of designing a coherent pro-active vision by integrating measures identified in the literature as key elements to mitigate the harm; and (iii) an interdisciplinary focus group (FG) to verify whether the impacts of AVs and potential mitigation measures for Bucharest are similar to those identified by the literature and integrated into the pro-active vision. The results suggest that while there are commonalities, variations exist in focus and perspective, underscoring the necessity of examining the mitigation measures encompassed in the vision through additional focus groups conducted in different cities.