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There are plenty of cars on the road with basic, limited autonomous capabilities for highway driving. The systems are generally described as "driver aids" or "safety systems", rather than "self-driving". Some are woeful, and some are very good.
My 2021 Hyundai i30 and 2022 Hyundai Ioniq both have Lane Following Assist, Adaptive Cruise Control, and Autonomous Emergency Braking. In practice, it means I can set my desired cruising speed on the highway, and the car will drive itself, staying in the centre of the lane, and maintaining a safe distance to the car ahead. They will slow down to a standstill if necessary, without any trouble or fuss. I have to keep my hands on the wheel, but I don't have to input any steering effort. If I take my hands off the wheel for 5 seconds or so, the car will beep at me, and after a few more seconds, it will disable the automatic driving aids. (I've only ever tested this when I was alone on an empty multi-lane highway, just to see what happens.) In practice, I always have my hands resting lightly on the wheel, and remain alert and in control. I tend to find that my hands are following the car's self-steering round a bend, as much or more than I'm steering it - it sort of feels like the car is reading my mind as to how to negotiate the curve.
They are far and away the most relaxing highway driving cars I've ever owned. The "self-driving" aids are the best new car technology for many years, and I look forward to the next generation of cars with even more sophisticated systems - I'll use all of the systems available to me as the technology advances. I suspect I will gradually relinquish more and more control to the autonomous vehicles as they improve, until one day I'll discover my car really is driving itself!
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