There are always extremists with absurd timelines on any topic! (Didn't people think we'd be on Mars in 2020?) But this one? In the right cities, plenty of people take a Waymo morning commute every day. I'd say self-driving cars have been pretty successful at meeting people's expectations — or maybe you and I are thinking of different people.
The expectation of a "self-driving car" is that you can get in it and take any trip that a human driver could take. The "in certain cities" is a huge caveat. If we accept that sort of geographical limitation, why not say that self-driving "cars" have been a thing since driverless metro systems started showing up in the 1980s?
