By concentrating on binary outcome predictions (Do we have "full self driving cars" available to the general public?) it misses the real progress made in a huge number of areas.
For example, one of the claims this paper claims to be false is Zuckerberg's 2015 declaration that:
One of [Facebook’s] goals for the next five to 10 years is to basically get better than human level at all of the primary human senses: vision, hearing, language, general cognition
There's little doubt that AI systems are already better than humans in vision and hearing and there is very clear progress in language. Cognition is ill-defined, but on most benchmarks attempting to measure this there is steady progress too.
I think the real reason AI is harder than we think is because any time progress is made, humans redefine AI as "not that thing we just solved"
Take Marcus' claim that charades is too hard for AIs. I think models like Open AI's Dall-E show clear progress towards developing the kinds of techniques needed to solve this, and if there was a benchmark for it I bet computers would out-perform humans in less than 5 years.