After seeing some autonomous cars in action, I believe they are 20 years away. In that sense I mean a fully automated driverless car that you can command to do what you want.

It would be great if you could buy a car, have it bring you to work while you read or slept, then after dropping you off, go earn money while it was ubering people around until it was time to pick you up. But I highly doubt this will happen in less than 20 years at this point. There's just too much lacking. It needs real artificial intelligence, not just machine learning and pattern matching. The car needs to know "that's a paper bag flying in the wind I'm about to hit", or "that truck in front of me is stopped."