This list IIRC was posted by someone on HN which details some of the claims Musk has made in the past which suggest he isn't the most honest of people.
Abridged history of Elon's self-driving predictions:
2015: "We’re going to end up with complete autonomy, and I think we will have complete autonomy in approximately two years."
2016: "I really consider autonomous driving a solved problem, I think we are less than two years away from complete autonomy, safer than humans, but regulations should take at least another year."
2018: "I think probably by end of next year (2019) self-driving will encompass essentially all modes of driving and be at least 100% to 200% safer than a person."
2019: "We need to be at 99.9999..% We need to be extremely reliable. When do we think it is safe for FSD, probably towards the end of this year then its up to the regulators when they will decide to approve that."
2019: "I feel very confident predicting autonomous robotaxis for Tesla next year."
2020: "I am extremely confident of achieving full autonomy and releasing it to the Tesla customer base next year. But I think at least some jurisdictions are going to allow full self-driving next year."
2021: "Tesla Full Self-Driving will work at a safety level well above that of the average driver this year, of that I am confident. Can’t speak for regulators though."