Highly automated driving (HAD) vehicles are predicted to have several societal benefits, including reduced accidents and fatalities, reduced congestion, efficient traffic networks and improved productivity. However, the adoption of technology is dependent on the willingness of people to adopt the technology. For a smooth transition to driverless vehicles, it is essential to investigate the public perception of driverless vehicles. This paper presents the multi-year survey data on public opinion on driverless vehicles in Australia and New Zealand. The survey has four rounds undertaken over a period of six years that can provide insights about the sentiment of Australians and New Zealanders over time. The data presented in the paper can be used in research studies that can benefit vehicle manufacturers, policy makers and researchers responsible for and interested in the safe and successful deployment of automated and driverless vehicles on Australian and New-Zealand roads in the future. Additionally, the last round of the survey also consists of Covid-19 questions and can be used to investigate Covid-19's effect on mobility.