The introduction of shared autonomous vehicles (SAVs) has the potential to provide better transport to people groups who currently experience transport exclusion. In this paper we describe a series of four workshops carried out with members of a range of transport excluded people groups- older people (65+), women, disabled people, neurodivergent people, and people with mental health conditions (N=11). Workshops explored existing experiences of transport with a journey mapping activity and participants generated inclusive design solutions for SAVs through a participatory design activity. Through thematic analysis of workshop data, we identified 3 main areas where design intervention in the interiors of SAVs could create more inclusive SAV journey experiences. These areas were adaptability, safety & security, and navigability & familiarity.