Never? I disagree. At some point, autonomous driving will be very safe. At one time, every step of manufacturing was done by people. Now a good chunk of it is automated. Yes that's a controlled environment, but I suspect that eventually autonomous cars will either talk to each other and/or will communicate with a centralized system that helps guide them.Auto-driving will never be as reliable as a human person. There is just too much subtlety going on that sensors would not pick up on.
A sensor might see the car adjacent to you driving straight and think there's no problem. The human might see the driver in said vehicle is texting and doesn't have their eyes on the road. The human would slow down in advance anticipating the distracted driver might drift out of their lane, or have to make a sudden move.
Auto-driving cannot predict... it can only react after the fact.
I suspect we'll have viable autonomous cars before I die, but I don't know if they'll be here before 2030. My guess is they'll take a huge step forward when most (all) cars are autonomous. What I'm not sure is if they'll be able to drive in all situations. My guess is no and thus we'll still have a steering wheel.