I don't see it happening for awhile. It is like COVID-19. It will not be defeated until the vast majority of people have been vaccinated.
In terms of fully autonomous vehicles, it will not be reality until the vast majority of vehicles are so equipped and can "see" (through IOT) each other and therefore compensate for all other cars on the road - including those approaching the same intersections from different directions.
What I am waiting for is the elimination of traffic jams where all cars can move in sync. Then it would be like an entire squadron of marching troops who "step-off" with their first step at the exact same time, instead of second-in-line waiting until first-in-line takes their first step, third-in-line waiting on the second, and so on. 100s of cars will be able to move at 70mph down the freeway, bumper to bumper, safely because all the cars will be communicating with each other, keeping each other aware of their intentions.