They are only self-driving in a very controlled environments of few very good mapped out cities with good roads in good weather. And it took what like 2 decade

They are only self-driving in a very controlled environments of few very good mapped out cities with good roads in good weather. And it took what like 2 decades to get there. So no, we don't have self-driving even close. Those examples look more like hard-coded solution for custom test cases.