Waymo already "self-drives" today, it just is extremely slow at making turns when the road is busy, and if there is any kind of unusual obstacle on the road (such as construction cones that require you to drive partially in another lane) it just stops completely and has the rider wait for twenty minutes for a manual operator to come and take over.

Those two obstacles won't be overcome until AGI. At best their frequency will be brought down a bit but not by nearly enough orders of magnitude.