A pre-planned route != self-driving (in my opinion).

I say that because it's not driving itself, it's driving a route you plotted or recorded.

You can't take that same tractor and have it work on your neighbors pasture as-is, it has to be programmed.

But again, this is getting into a semantics debate. Personally I'd prefer to differentiate using autonomous and automated, self-driving is too ambiguous.