An important concept pointed out in these conversations before is that human-in-the-loop driving is a moving target. That is, it's possible we may never get to the point of fully automated driving because we may discover that the safest method is humans doing some small fraction, and automated systems doing the rest. Since we have partial automation now, and will continue to in the future, we're not asking "When will automated systems replace human drivers?" but "When will fully automated systems replace humans using partially automated systems?" Because we're constantly improving the partially automated systems, we're constantly raising the bar that a fully automated system needs to meet.
If there is no car in front of you, stop and start at lights and intersections. Turn (while with FSD package it takes highway ramps automatically, it’s not reliable on any complex highway intersection). In heavy traffic, you have to change lanes manually, automatic system is not aggressive enough.
I'm personally most interested in the trucking example, where trucks can form a caravan with a single driver in the front.
I know that the topic at hand is about L5 fully autonomous, but wanted to share that though robotaxis are still some ways out, big benefits to personal driving is already here. From here things will rapidly evolve towards the ideal state.