Turin (Italy) has a fully automated metro line (including doors operation) since 2006, I believe.
What was a first in Nuremberg wasn't the trains (many places have them by now), but that they have two lines self-driving trains and one conventional line mixed sometimes sharing the same tracks and even a few (central city) stations (same platforms there too).
30 sec. video of a driverless U-Bahn train exiting a station: https://www.youtube.com/watch?v=TnGNV9fydrA
"Rarely" means that I used it on average twice every day, including weekends, and I cannot remember more than 3-4 cases where we had delays (from 2007 to 2014)
Also in Lille, Rennes and Toulouse (France)