I doubt it will take that long. 30 years ago the vast majority of cars didn't have airbags, ABS or even ECU's and technology develops exponentially faster now

I doubt it will take that long. 30 years ago the vast majority of cars didn't have airbags, ABS or even ECU's and technology develops exponentially faster now than it did in the 80's so in my opinion we will see the first mass production fully automated road legal vehicle within 10 years.