>we will see L4 in some major metro areas in the US by end of this decade
I think you're far more likely to see L4 on limited access highways in good weather. A robotaxi service in a major city seems much more problematic given all the random behavior by other cars, pedestrians, cyclists, etc. and picking up/dropping off people in the fairly random ways that taxis/Ubers do. (And you'll rightly be shut down 6 months for an investigation the first time you run over someone even if they weren't crossing at a crosswalk.)
And for many people, including myself, automated highway driving would actually be a much bigger win than urban taxi rides which I rarely have a need for.
I think you're far more likely to see L4 on limited access highways in good weather. A robotaxi service in a major city seems much more problematic given all the random behavior by other cars, pedestrians, cyclists, etc. and picking up/dropping off people in the fairly random ways that taxis/Ubers do. (And you'll rightly be shut down 6 months for an investigation the first time you run over someone even if they weren't crossing at a crosswalk.)
And for many people, including myself, automated highway driving would actually be a much bigger win than urban taxi rides which I rarely have a need for.