That's the $10,000 question! Elon Musk said Tesla vehicles should be fully autonomous in 2021. However, Tesla has a habit of announcing overly aggressive timelines and not meeting them. Our guess and from we've seen from the Full Self-Driving Beta is that we'll see helpful city driving features make their way into Tesla vehicles later in 2021 or 2022, depending on regulations, but nothing like what was promised at Tesla Autonomy Day, that is Level 4 or 5 capabilities.