Why is this so complicated, to me self-driving being solved is when I get into a car to get to work and don't have to touch any controls other than the AC maybe. Pretty well-defined, no?
Self-driving can still be a huge value even if it isn't totally automated between every two drivable points. I'd pay a lot of money for a car that could safely drive itself on highways alone. Get on the highway, fall-asleep, wake up at a rest stop on the other side of the country. In some ways, even better than having a private jet.