Musk keeps promising next year. I trust him implicitly.
I'm really impressed with https://comma.ai for self-driving. It's a few years behind Tesla, but turns any compatible care into "self driving" to an extent (lane centering, adaptive cruise, and lane changing).
I would have loved to have a blind spot monitor, lane centering, and adaptive cruise control on my ambulance.
I think fully autonomous driving is 10+ years away.