Car manufacturers and the legal system are still at least 10-20 years away from being able to offer fully autonomous vehicles for public road use due to both the technology required and the way the legal system is currently set up. If I had to put a bet on a number, I'd predict they're closer to 20 years out.
A couple of major hurdles autonomous vehicles face are that human drivers often times behave completely illogically (so it's VERY hard to teach/program an autonomous vehicle to "defend itself" while driving and still make its way to its location) and that autonomous cars are and will be held to a FAR higher legal standard than human drivers when it comes to collision avoidance, injuries, and "safety" as a whole.
For example, if your neighbor causes a collision and a person in the other vehicle goes to the hospital to be checked out, it doesn't make the national news, the local news, or ANY news. If the same thing happens and the autonomous car is the cause of the collision, it's top story on the local news and probably a top story on national news as well. The company operating the autonomous car is almost certain to be sued and the hit to their reputation and the reputation of ALL autonomous vehicles will be substantial.
Now imagine if the someone in the autonomous car collision died... Again, that's 100% a national news headline. But if someone dies in the "neighbor" caused crash, it might or might not even make local news... after all, 547 other traffic fatalities caused by human drivers have occurred that very same DAY (and EVERY day) in the USA.
If you're waiting around for an autonomous car to do 100% of your driving, I believe you've got a long wait ahead.