As of 2016, Google's self-driving (ie. fully autonomos) cars have already logged more than 2 millions miles driven in California. One of them was finally responsible for an accident: Google's Self-Driving Car Hits a Public Bus in California - https://abcnews.go.com/Technology/googles-driving-car-hits-public-bus-california/story?id=37288589 . California's streets are a small sample of what's possible in the world, but it's still an incredible achievement.
Musk has already made claims about planning to release a model without a steering wheel. (Of course, Musk has yet to meet a single of his self-imposed timelines.)
If anything, we'll see fully autonomous vehicles on the streets much, much sooner than in 20 years.
Yeah, in a perfect climate of California. Meh. Try that in New England's sleet. Sorry, can't and won't happen on normal public roads. On closed roads with location beacons, yeah, possible. On a normal road, nope.
Elon is a tool. While I give him credit for shaking up the automotive industry with EV, he should be reviled for what is doing to safety in cars by pushing touch screen controls and other bulli**** that others sadly copy. The only real reason for this is cost cutting.