Well, if you want a taste of where self-driving is heading (and if you have a compatible vehicle), invest $1300 or so in a system called OpenPilot, from a company called "Comma AI":
https://comma.ai/shop
This is an aftermarket robot driver product. It is not (yet) full-self-driving, but it is miles ahead of any of the adaptive-cruise products that Mercedes or any of the other OEMs currently offer. It mounts on your windshield and connects between the vehicle and the OEM forward-looking camera (although it uses its own camera, not the OEM one). It uses the steering, braking and safety sensors of the vehicle to implement a kind of super-ACC. We have one on our Highlander. It is definitely still an "early adaptor" thing, but Consumer Reports rated it superior to any OEM--including Tesla and Cadillac (who currently have the best available OEM systems). It is truly amazing. On an interstate, you can literally drive all day without touching the steering wheel (until you come to your exit, that is). Also works on secondary roads (even ones without lane lines), but with limitations (mostly on very sharp turns). It doesn't yet decide to change lanes on its own, but it will do so for you if you turn on your signals and nudge the steering wheel.
The driver is still responsible for safety, and needs to be ready to take over if it gets confused (which is very rare). It has a rear-facing camera that watches your eyes and it yells at you if you don't keep them on the road. Works fine at night and in bad weather. In driving rain, it can see the lane ahead better than I can. I haven't tried heavy snow, but I suspect that it will work at least as well as a human. It gets OTA updates regularly, and keeps getting better and better.
As I said, this is still bleeding-edge, but I would really miss it if it went away (sadly, it does not yet support the Transit). As a harbinger of what is coming, it is really eye-opening.
Can't wait until we can go back and sleep through the trip.