You could also hire a limo. I suppose in the future you'll be able to rent a google car for a day, but you don't have to wait for self-driving cars. They're here today, the self just happens to be a human.
I think $10,000 is a big over-estimate, but even that would be spread out over the life of the car. I'd happily pay $1000 a year to not have to worry about driving.