Waymo and Cruise are currently testing systems with no driver that do at least a passable job in most standard city driving conditions for (self-reported) hundreds to thousands of hours between traffic incidents. Humans average a few 10K-100K hours between traffic incidents so it is at least within the general ballpark. It remains to be seen whether they can improve adequately and robustly to be better than human drivers.
It is literally here in the sense that there are cars with no drivers that can operate for on the order of years (self-reported) without a critical failure that are currently in testing. It is not here yet in that human drivers are amazing and we do not know if AVs are better than human drivers as there is insufficient, unbiased evidence and the more extensive testing with safety drivers indicate they are still a factor of 10x to 100x away.
I don't need, for example, a self driving car to be able to handle snow particularly well, because it does not snow where I live. I don't need it to be able to drive well off-road because there are roads everywhere I go. I don't need it to be able to tow a trailer or a caravan, or drive a heavy vehicle. Self driving technology does not need to surpass humans in every single driving condition in order to be useful to a large number of people.