I think the answer right now is no, we're still requiring the driver to be able to take over, and our thought experiment presupposes they're inebriated.
On the other hand, it's obviously better to have the computer take a shot (no pun intended) at getting home than letting the driver do it themselves, even today. At what point does that moral balance tip? It seems like we're not too far off from the answer being "obviously let the car drive, whatever the drunk person was going to do is probably riskier for both themselves and everyone else".