Oh, yes, fully self-driving cars (level 5 autonomy) will be achieved well before 2030. The hardware of these vehicles has already been achieved as of 2019. By my estimation, the software programming sufficient for level 5 autonomy will also be achieved by 2021.

There is, however, a major qualification. Level 5 autonomy does not account for HUMAN level autonomy. Imagine yourself under these conditions: 1) It is a normal day, 2) you've had sufficient sleep, 3) no emergencies or major anxieties are looming over you, and 4) you are being paid 100,000 dollars to drive your car "as flawlessly as possible", which means in complete concordance with the "rules of the road" while taking care to adapt to specific human drivers and pedestrians. A level 5 autonomous vehicle will be programmed to drive as a human would in these specific conditions. But it cannot "adapt to rule-breaking"...because this is beyond the programmatic functionality of the car. You might ask "Why can't humans program this functionality into the car?" The short answer is: Nobody knows how their own brained body dynamically functions to complete tasks. We are lost (except for a true few who silently, subtly, almost imperceptibly lead the way into the 4th density graduation, of which I am a member).

Accordingly, self-driving cars - as programmatically realizable by humans at this stage of our evolution - must be ubiquitous to "actually work". Nearly all vehicles must be self-driving. In time, of course, provisions will be made for people who prove that they can closely simulate the near-flawless driving exhibited by these self-driving systems. Such people will be subjected to rigorous periodic testing in a closed course with other self-driving systems.

Perhaps the only worthy cause in which Elon Musk has invested himself is this: autonomous vehicles. Too many people are injured, maimed, and killed by distracted, rushing, or road-raged drivers.