Musk told Fridman that Tesla customers would need to keep their hands on the wheel "for at least six months or something like that." But he predicted that soon—"maybe even toward the end of this year, I'd be shocked if it's not next year at the latest"—Tesla's self-driving technology will become so good that "having a human intervene will decrease safety."
Musk has maintained an optimistic mood about Tesla's self-driving progress at the same time that other industry CEOs have been tamping down expectations. (Musk is congenitally optimistic on this topic—in 2015, he predicted that fully self-driving cars would be ready within two years, declaring it a "much easier problem than people think it is.")
I know I'm pessimistic about this stuff generally, but if the miracle does happen it certainly isn't coming from Tesla.