self-driving is more of a language problem than a technology problem. In 2005 grad students had cars driving themselves on a course. Tesla and Waymo both have cars that very drive well on many roads. self-driving is here, now all that is left is for people to argue about what "L5" means as the systems improve. They will improve as there is a clear path to improvement.

I don't expect that we will ever see the day where everyone is OK with self-driving cars on the roads regardless of the safety statistics, because there will always be edge cases of crashes and personal preferences around driving styles.