I occasionally see videos published online from companies demonstrating how their tech allows vehicles to drive without getting confused by things like roundabouts, pedestrians, police giving instructions (that is a tough one as it isn't enough just to identify a person but know who they are and what they are gesturing!), and dealing with an accident and having to cross a lane to go around an incident etc. Most are likely videos to attract funding.
Given Tesla was caught faking, I am never sure how real these demos are. Indeed, a situation could be staged and the demo merely operates a pre-programmed sequence.
Or, in other videos, you see vehicles moving at a snail pace that nobody would ever sit in. Who would want to travel in a car that crawls, stops, has to calculate its next move, as well as the vehicle needing to keep an eye on the occupants and help them get in and out (as well as stopping safely somewhere to do so).
All in all, I can't see how it will happen anytime soon. The tech will be fine for controlled, segregated, routes from a fixed A to B (say a long stay car park to airport terminal) and things like that.
Calling a cab at 2am to negotiate badly parked taxis, drunks on the road like zombies, and so on, isn't going to be a thing.