As somebody who has been reading them since the first year, I think you have it wrong. That self-driving prediction was always about Level 5 autonomy. What's changed between now and then is that we've basically stopped talking about that, instead accepting intervention-as-a-service companies as self driving.
Well, ans we're talking about within very specific locales.
Honestly, Brooks--who has been presented and self-presented as something of a skeptic with respect to autonomous self-driving--looks like something of an optimist at this point. (In the sense that your kid won't need to learn to drive.)
The author quotes that their predictions are for Level 4 autonomy:
> The definition, or common understanding, of what self driving cars really means has changed since my post on predictions eight years ago. At that time self driving cars meant that the cars would drive themselves to wherever they were told to go with no further human control inputs. It was implicit that it meant level 4 driving. Note that there is also a higher level of autonomy, level 5, that is defined.