Depends on how you mean. The problem isn't self-driving ability per se, but the standard of proficiency. The technology is already there to produce an FSD car, just not one capable of maintaining anything near the level of safety standard we'd require. It's entirely possible at some point, somewhere FSD cars will simply be declared "good enough" even if there are still a lot of bugs. (not saying that would necessarily be a good thing, but it's something I could see happening).