There are some research teams that have done European demos, but honestly, no. The European automakers have the technical ability, but have repeatedly failed at organizational competence and understanding the right design mindset.

The EU regulatory environment has also been very different than the US on this subject. NHTSA and the various DMVs have been very laissez-faire about robotaxis, not banning them and allowing some level of (frankly unsafe) testing. The EU has taken a more traditional approach, where public road deployments will require type classification, which necessitates a whole bunch of legislation exist. For L2/L3 vehicles, that only recently came into existence. That framework doesn't exist for L4+ vehicles, so they cannot currently be deployed in Europe regardless of development status.