First - forget Tesla, their self driving is overpromised, underdelivered, it was never built to be self driving, it was built to sell hype.

All the other self driving companies are a different matter, they have started real world deployments already and are in early stages of scaling up. That scaling up is going to take years and years, but it's happening now and it's not beta, but real world L4 driving.

L5 is unnecessary complication and meaningless goalpost, all driving human or otherwise has limitations.