Toyota has the Prius, which is the car model that basically equaled "electric car" before Tesla even though it's "just" a hybrid. I wouldn't put Toyota out of the game yet.
> Both the Asian, European and American competitors will not only be 3-4 or even 5-6-7 years behind.
Where they will be in front of Tesla, however, and that for at least a decade: scaling and support. Once a car manufacturer figures out how to build a decent electric vehicle, it's easy to retool the factories. BMW with its i3/i8 series has experience with electric cars and with scaling while maintaining quality. Also, the big manufacturers have huge networks of dealers and service centers, which means that customers who value reliability and/or stress-free repairs are more likely to buy a BigCo car instead of a Tesla.
> They will be hundreds of millions of miles behind in terms of autonomy, and thousands of charging stations behind.
In Europe, charging station connectors should be standardized so there won't be a major advantage there. And autonomy... I would be surprised if big truck/bus vendors like MAN, Scania, Volvo and others don't have their newest fleet models send telemetry data back to home like Tesla does. Especially buses can deliver mountains of data about city travel back home.
tl; dr: I would not count on BigCar going belly-up, Tesla will imho just be a powerful competition but nothing like BigCar in scale.