My 2020 Explorer might be called "self-driving" by some but that is far from realistic. It does all the basic functions on its own---but it is very restricted by Ford---and understandably so.
First of all, the difference between autonomous and self-driving need to be clarified. Autonomous means it can go from point A to point B on it's own---including turns, stop signs, traffic signals etc.
The Explorer will start, stop, maintain speed (cruise control setting) and match traffic speed. I loved that in NYC driving---I could do the entire length of the Cross Bronxs Expressway at an average stop and go speed of 6 minutes/per mile. I did the steering and it did the rest as long as we were not idle too long and the engine shut-off. In that case, I had to restart by either pushing the resume button or stepping on the brake.
Steering is another matter----and Ford does not even acknowledge that it is capable of self steering----it is called lane keeping assistance. I will confess to (as safely as possible) probed this feature and it will on it's own go around a curve and maintain the lane----to a point---and the point is a few seconds of hands off the wheel-----and then there is a warning that says something to the effect of "put your hands back on the wheel stupid"!
That "ability" is linked entirely to the forward looking camera(s) ability to see both the center line and the fog line----if not there it is inactive. One of the little wrinkles about that, is that depending on the sun glare and angle, it can be confused by cracks in the pavement that have been filled by sealant and the painted lines. Also, using your turn signal cancels that feature---so lane changes are on your own. It reconnects when you are done the lane change and turn off the turn signal.
They are all good features but the driver needs to be aware of both the capability and the limitations. Unnecessary braking is one that clearly demonstrates the limits of that system. If I am following a car at---say 100 yards---and that car begins to slow to make a right turn----I know that car will be clear of the roadway before I get there---the system does not---it sees a car slowing down and begins braking. Depending on the differential speed that braking can be aggressive---and unnecessary.
"A pessimist sees the difficulty in every opportunity, an optimist sees the opportunity in every difficulty” ---Sir Winston Churchill
"Political extremism involves two prime ingredients: an excessively simple diagnosis of the world's ills, and a conviction that there are identifiable villains back of it all." ---John W. Gardner
“You can’t go back and change the beginning, but you can start where you are and change the ending.” ---C. S. Lewis