A few months ago if you ignore the safety driver [0].

If cars with safety drivers don't count, nearly a year ago if you move to Pheonix and get lucky [1]. They're apparently planning to launch in more cities "soon" (though I can't find a list or date) [2] and they've recently got permission to start charging passengers and intend to by the end of they year [3].

So I think "decades" is an exaggeration.

[0] https://www.theverge.com/2017/12/6/16742924/lyft-nutonomy-bo...

[1] https://www.theverge.com/2017/4/25/15415840/waymo-self-drivi...

[2] https://www.theatlantic.com/technology/archive/2018/01/waymo...

[3] https://www.digitaltrends.com/cars/waymo-now-a-full-ride-hai...