Eg, I wouldn't consider the stuff Tesla is doing as self driving at all. I have significant worry because to reduces attention while still requiring it for safety.
If you're talking "Hail robocab, don't touch a steering wheel, arrive at your destination", then Waymo is already there: https://blog.waymo.com/2020/10/waymo-is-opening-its-fully-dr...
You might mean "does everything everyone uses a vehicle for today", however I feel that's perhaps moving the goalposts to unattainable. Eg, replacing nascar racers with self driving cars would defeat the point of nascar, so that's won't happen. (though it might be an interesting side event.)
Between the two extremes of public pilot in limited area and handling every situation, there's a very large space for tremendous value. Just serving urban areas would significantly reduce the need for vehicles. There are many people who only use public transit, or could if they had more economical ways to handle sporadic trips such as grocery shopping and visiting friends across town.