Waymo(google) is already doing a full self driving taxi in San Francisco.

Edit: Well not quite full there is a support team of real humans that remote controls the cars when they get stuck because the car can’t figure out a safe enough next move - mostly in parking lots.

As a fun bonus there was a small bug, the cars are programmed to give a honk when they see other cars driving towards them from the front or something and there’s a parking lot where they all go during low activity times…but the waymo cars were just constantly honking at each other while trying to park. - https://www.youtube.com/shorts/yvDuUCxvkO0