A robotaxi isn't too far off if you limit where it can operate.
It's not infeasible to train an automated driving system specifically suited to the streets of LA or wherever. Some place where it doesn't snow, doesn't rain often, and drivers/cyclists/pedestrians are fairly predictable (at least compared to someplace like Asia).
Alternatively, a robobus, that is to say an automated system that drives from one place to the other on a highway or interstate, seems to be mostly solved.
In both cases, if the vehicles were mostly autonomous but could also be controlled remotely by a human in ambiguous cases, they would still be vastly cheaper to operate than existing taxi/bus services.