What if I were to tell you that you can buy a self driving car right now, and that there are 100s of thousands them in consumer hands, right now?
Tesla sells them. And they aren't that expensive.
If you can press a button, and take your hands off the wheel, that is a self driving car. And you can buy them today.
Tesla (and Elon Musk in particular) are of course happy to encourage the misconception that they already sell a self-driving car.
You press a button, and it stays in lane, at the right speed. Most people are happy with that feature set.
That is the MVP, that provides most of the benefits to most people, even if it isn't perfect.
If not, it's not self driving as generally understood, it's just driver or lane assist. A perception intentionally created by Tesla promoting their driver assist as giving a car that could effectively wander off on its own. Maybe take a part-time job as autonomous taxi. Long having offered full self driving in the paid options list.
For most people, the MVP of a self driving car is merely "able to take your hands off the wheel".
"I'm going to drive to the store" means a complete sequence of events, start>unpark>integrate merge with traffic on route>follow route>navigate parking lot>park.
Nothing other than a human does that today. That is what is meant by either "self-driving car" or "fully autonomous". All exceptions to what a human can do is just making excuses, and it's b.s. Driving is a broad term that encompasses all responsibilities for getting from A to B.
Does a Tesla lane change automatically to follow a route? Does it enter turn lanes and turn onto new streets? Does it turn into parking lots? Nope. Human prompted lane changing, and staying in a lane, is not "driving", it's a vertical feature that partially offloads some task from a human.