Also, while claiming these innovations are only a few years way may be insane, saying they will never happen feels probably just as non-sense. History hasn't been on the side of such absolute claims.
It will take time, but Waymo already has working 100% self-driving cars out in the wild. Yes it's in a small area, with perfect weather, and with technicians ready to jump in, but it's still a good start and easily paves the way for it to extend over the next decade or so.