This was 38 years ago: https://www.youtube.com/watch?v=ntIczNQKfjQ - "NavLab 1 (1986) : Carnegie Mellon : Robotics Institute History of Self-Driving Cars; NavLab or Navigation Laboratory was the first self-driving car with people riding on board. It was very slow, but for 1986 computing power, it was revolutionary. NavLab continued to lay the groundwork for Carnegie Mellon University's expertise in the field of autonomous vehicles."

This was 30+ years ago: https://www.youtube.com/watch?v=_HbVWm7wdmE - "Short video about Ernst Dickmanns VaMoR and VaMP projects - fully autonomous vehicles, which travelled thousands of miles autonomously on public roads in 1980s."

This was 29 years ago: https://www.youtube.com/watch?v=PAMVogK2TTk - "A South Korean professor [... Han Min-hong's] vehicle drove itself 300km (186 miles) all the way from Seoul to the southern port of Busan in 1995."

This was 19 years ago: https://www.youtube.com/watch?v=7a6GrKqOxeU - "DARPA Grand Challenge - 2005 Driverless Car Competition"