Autonomous vehicles have the potential to fundamentally change existing transportation systems. Beyond legal concerns, these societal evolutions will critically depend on user acceptance. As an emerging mode of public transportation, Autonomous mobility on demand (AMoD) is of particular interest in this context [7]. The aim of the present study is to identify the main components of acceptability (before first use) and acceptance (after first use) of AMoD, following a user experience (UX) framework. To address this goal, we conducted three workshops (N=14) involving open discussions and a ride in an experimental autonomous shuttle. Using a mixed- methods approach, we measured pre-immersion acceptability before immersing the participants in an on- demand transport scenario, and eventually measured post- immersion acceptance of AMoD. Results show that participants were reassured about safety concerns, however they perceived the AMoD experience as ineffective. Our findings highlight key factors to be taken into account when designing AMoD experiences.