20 years is just the prediction the industry is stating, it probably will take longer. Through I would not be surprised if they push the technology before its fully ready. Besides 1984 government doom and gloom, you also have the risk of hackers and ransomeware in those self driving cars, heck current cars are at risk with the built in wifi and Onstar.
Tree huggers hate rural people. They view city living as being more efficent and better for the environment than rural living and there are various schemes to just about force most of the population to live in cities. By the time all cars are self driving, they likely will have self driving tractors and combines too. Automated mega farms where there might be a few people to supervise and maintain the automated equipment. Scary part about this is that Bill Gates is the US 's largest farmland owner, he owns farms across 18 states. John Deere already builds tractors with special software that only their dealership mechanics can work on. Its why many farmers buy old tractors with little to no computers just so they can work on them themselves.
If there is any truth to the great reset conspiracy, the end goal is to make private property obsolete and replace it with renting and subscriptions because those are better revenue streams than lump sum full payments.