Google has been running self driving cars on public roads since 2010. There were driver interventions back then, but I doubt they would have any trouble running those cars in a warehouse after driving 7 years on public roads.
That tech probably wouldn't be economical to use in a warehouse though.
Driver interventions, on a few streets, with highly instrumented cars. But compared to public roads warehouses are easy. There isn't fog or rain or snow. There aren't potholes. The light doesn't change. And to prove my point: look at all these self-driving cars on the streets today.
It's a peculiar case of Bay Area Tech brain. "We very rarely kill pedestrians in SF and Arizona. I'm sure this tech will work fine in Ohio."
That tech probably wouldn't be economical to use in a warehouse though.