If you can agree that in 1000 years, it's extremely likely that we'll have self-driving cars, then to paraphrase Churchill, now we're just haggling over timeline. 500 years from now, will we have self-driving cars? 500 years ago, gunpowder and windmills were new technology. How about 200 years? The big thing was steam power then.
And so forth and so on. Unless there is some natural or physical law that would prevent self-driving cars, it's just a matter of when. And honestly, if you watch some of these Tesla FSD drives that people post on Twitter, it's pretty clear that self-driving is production-ready under a significant number of circumstances.
The problem is, of course, that there are a lot of edge cases, and because the stakes are high, we have to solve most of those to get true full self driving. But given that cars can pretty reliably traverse the streets of SF, I struggle to see the argument that the remaining edge cases are impossible to solve.