I summon a Waymo car every few days, and it takes me from point A to point B for about the same price as an Uber or Lyft. This only works so long as point A and B are both in San Francisco, but for an average person in San Francisco with access to the app, self-driving cars are already here. You can argue that person isn't average for a number of reasons, but the cars are real and giving rides to members of the general public.

https://youtu.be/-Rxvl3INKSg is a news reporter's video of taking a ride in one, so you can see what it's like to ride in one. She's a news reporter and thus not your average person because she has access to Waymo because she's a reporter, but members of the general public are also getting access and are able to do this as well. After watching that, I think a reasonable average person could believe that self driving cars are here.

As was said upthread, the future is here but unevenly distributed.