I think you're overstating the 'definitely' column here by an enormous amount. Most of the things you included just have not happened. Here are two examples:

1. Household robots are ubiquitous and reliable.

No. Household robots exist and are in an early stage of adoption and development, but are not very capable (single tasks) or reliable, and have yet to reach widespread adoption outside of wealthy, early adopters and enthusiasts.

2. Computers do most of the vehicle driving.

No. Some cars have driver assistance technologies, but mainly expensive luxury models. Most vehicles are driven by humans with zero computer assistance.

I think you are confusing the existance of a thing with the universal availability and adoption of that thing. Where Kurzweil says most he means it. Even back in 1999 there were examples of these things in research labs and so on, the prediction he was making was that they would have moved forward from there to becoming everyday household items, present in the council estates, trailer parks and so on of the world, as well as the San Francisco area...