Not at all. A decade ago, DARPA had a competition for autonomous vehicles to go around a fixed off-road course of 100 miles or so , which the developers could study beforehand. And not a single vehicle even got halfway. Autonomous vehicles on the roads seemed like many decades away right then.
And before that, they'd seemed science fiction, not a decade away.
They've never seemed closer than now. In fact they are actually working right now, as prototypes, successfully mixing with ordinary traffic.
Autonomous vehicles are not in the category of flying cars or hoverboards. They don't have any insurmountable hurdles. Just a continued path of improvement until they are judged superior to human drivers in virtually all safety considerations. At that point those that can afford them and want them will buy them.
I agree with you that ever increasing driver assist is another path that will be followed, eventually meeting up the fully autonomous prototypes.
Just as autopilot started out as assists to maintain a fixed level and/or course, but are now capable of doing a complete journey from takeoff to landing by themselves.