On self-driving: if you want true autonomy, where you can relax and do something else entirely while you drive, the answers are Waymo, Apollo Go, and to a lesser extent: rideshare.
Every other system requires that you sit in the driver's seat, pay attention, and be ready to handle exceptions. Which means that ongoing improvements don't actually buy you much of anything, because having to handle an exception every 50 miles isn't a better experience than having to handle one very 5 miles.