We don't need AGI or self-driving to make a big leap.
I want drone fleets that can roof a house or 3d print structures. Nanobots to clear arteries and destroy cancer cells. These things will not need to pass the Turing test or even close.
You get into it, and it takes you to the destination. You can space out all you like.
Yes, it is slower than driving yourself, unless there is heavy traffic, but it tends to work well.
What you're really asking for is a car that predicts when it needs to beep. I'd imagine that in most of the serious situations, the maximum warning time will be shorter than the minimum spaced-out driver reorientation time. In fact, no meaningful scenario comes to mind where the car would want help but with a handful of seconds to spare.
Do you call a white blood cell "intelligent"? Then why would you call a nanobot that destroyed cancer cells "intelligent"?