The deployment of electric, connected, and autonomous vehicles on public roads presents a significant challenge that can be addressed through previously established frameworks developed globally for implementing these technologies as part of an urban living lab (ULL). This systematic review, based on records from four distinct databases, focuses on projects that have conducted deployments of self-driving technologies in streets within urban environments. The review describes relevant information about various initiatives, including a classification of the stages of development reached according to the urban area covered, safety considerations, and lessons learned for optimal deployment. On-board sensing technology, digital infrastructure, and energy and communication systems emerge as the essential components of a ULL with autonomous vehicles (AVs). A crucial goal for smart cities is ensuring the scalability of large-scale deployments of such ULLs for safe, clean, and future mobility experimentation. This can only be achieved through effective coordination among academia, government, industry, and society to guarantee the successful integration of multiple projects in a unique environment.