I think that's optimistic. Ten plus years.

There's too many exceptions. In my home town, an intersection. Imagine, if you will:

Traveling westbound there's four straight ahead lanes. There's a traffic light for each straight lane. The traffic lights will alternate "left two straight, green; right two straight red" and then "left two straight, red; right two, green". It does this because there's a tunnel and a roundabout right there. I guarantee that FSD will choke on this.