A couple of decades at least.

And that's just for the tech to be ready, you can tack on another decade or two for the legal system to figure out wtf to do about it and to iterate on the dumbassery that'll make its way into the first few bills.

Who gets tickets if/when there's a violation of road law, where liabilities fall when a full self auto car inevitably t-bones a school bus (there will not be a 0% accident rate, bugs and glitches happen), regulations and standards around connectivity security, do people still need a DL to operate a fully autonomous vehicle, etc... etc...