This is what companies like Lilium are aiming for [1], and they're aiming for passenger operations starting in 2025 on a "taxi" type basis, probably initially with a pilot on board, though from what I understand this is largely because they don't expect to get approval for autonomous operation from day one. Of course there's no guarantee they'll meet that target, but they're also just one of many companies working on this.

[1] https://lilium.com/newsroom-detail/taking-to-the-skies-fligh...