It is not black/white. It is okay to have the freedom to become self-custodial anytime, but not everybody needs to transact in self-custody all the time.
Taproot was another major step that enables lightning upgrades in future versions (such as zero-fee channel opens) that is barely discussed. The number of X years for onboarding Y amount of people is not accurate, as it disregards all major developments of the last 5 years.