Interestingly, the iRobot founder and brilliant robot scientist Rodney Brooks puts flying cars and robot taxis in similar buckets as to wide availability: http://rodneybrooks.com/my-dated-predictions/
On a software level Self-flying aircraft are much more simple than self-driving cars, there exist today technologies to have 100% safe self-flying vehicles similar to small electrical planes capable of 1 to 2 passengers, it's much more a regulation challenge.