You can go out and pay to ride in a self driving car right now
There is no self-driving car in existence today that can do what most people understand by driving. Waymo is just a simulation of what a self driving car should do, achieved by painstakingly mapping every square inch of street in a very limited area. It's a ruse achieved by brute-forcing, not self-driving. Not even their makers trust it to be self driving, assigning back-up human drivers in unpredictable service areas.