I put Ford's 2021 and BMW's 2025 and so on, into the autonomy is novelty category; just like the Roomba (yes the robot vacuum cleaner). There is no possible way in that time frame that either the software, or public infrastructure, or laws and regulations, and insurance are all going to magically go "full autonomy" in major cities, let alone outside of them, in that time frame. We've been trying to do this with trains and planes for a long time and while highly automated to a degree that might surprise some people, they are not fully autonomous. And yet they don't have to share infrastructure with significantly sized objects that not only don't use the same software, but not even the same spec including fault tolerance.
And another reason why I'm gonna be a bit negative Nancy on this, is because the entire software industry sucks when it comes to software updates. About the best at it has been Apple and iOS. The worst is a toss up between the automotive industry's own proprietary navigation systems (crap UI/Ux, crap nearly non-existent ship it and forget it update) and mobile device manufacturers. There will need to be software updates for more than a decade for cars, to account for all the unknown unknowns as infrastructure and rules all change, to account for interactions with other proprietary systems, as well as humans. But this industry sucks at software updates.
Anyway, good luck with that BMW.