It's close and it will happen. In my Tesla it already drives itself nearly 100% of the time through city streets, highways, rush hour traffic, complex situations (hardware 4 Teslas are amazing). I also have a Toyota truck and it feels like such a downgrade to drive without self driving anymore. It's only a matter of time before Tesla and others perfect self driving (as Waymo nearly has done) and we no longer have human driven taxis/ubers/lyfts and regular drivers are also on self driving. It will save time, lives and reduce road rage.