I'm saying that the "no driver at the wheel" stage must be flawless. I've seen some claims that it's "Good enough if it's x times better than a human driver" or "can drive n number of miles without an accident". However, both of those are not the metrics to measure.
A "no driver at the wheel" package is good enough when it doesn't run over the neighbor's cat or Timmy on the street. Humans today make that mistake all the time, but that's not a mistake a driverless car can make and get away with. Consider, for example, Uber's killed pedestrian. Sure, it was a tough scenario and the driver wasn't paying attention. But the fact of the matter is everyone had the expectation that the Uber car would not hit that pedestrian even if they were really hard to see.
Until that happens, nobody will accept "no driver at the wheel" cars... except maybe in tightly controlled routes/geofences. Otherwise, SDC will require a driver to be attentive at the wheel at all times. That is, telsa's FSD is a very long way away from being able to hit that "telsa taxi service" that elon has pitched. I doubt it can make it with the current sensor set (not enough redundancy).