Based on the rate of progress alone I would expect functional vision-only self-driving to be very close. I expect people will continue to say LIDAR is required right up until the moment that Tesla is shipping level 4/5 self-driving.
Pro tip if you get stuck in a warren of tiny little back streets in the area. Latch on to the back of a cab; they're generally on their way to a major road to get their fare where they're going and they usually know a good way to get to one. I've pulled this trick multiple times around city hall, Government Center, the old state house, etc.
So close yet so far, which is ironically the problem vision based self-driving has. No concrete information just a guess based on the simplest surface data.
Like does it get naively caught in stopped traffic for turns it could lane change out or does it fucking send it?