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I work in the automotive industry. I believe we could be there in 10 to 20 years, but I'm not convinced we will be there.
Specifically, because vehicle autonomy has been a big buzz word in the industry for a decade or so, and it's starting to lose its zing. And when buzzwords lose their zing, the money dries up and the industry moves on.
Things like speed-adjusting cruise control and lane-keeping assistance, for example, are trivial to implement from a technological standpoint and don't cost much to add. But they don't show up in too many vehicles, because consumers stopped caring. I worked on a trailer backup assistance feature in a 2015 pickup that added zero production cost, but very few vehicles implement anything like that. Not because they're not valuable features, but because the industry loses interest and moves on.
The automotive feature that boggles me most is 4-wheel steering (where the rear wheels can move about 10 degrees or so). I've driven a vehicle with this feature, and it's an absolute game-changer. And it doesn't cost that much to implement either. Too bad the big OEMs don't care, because once you've driven one, you want it on every vehicle ever. Sigh.
End rant.
Besides parking, what other benefit is there for 4-wheel steering?
General maneuverability is the main benefit. The back wheels more closely follow the front wheels, so for situations like a curved drive-through (curbs on both sides) or even just making turns on roads with narrow lanes, it's easier to not clip the curb (or other vehicles) on the inside of your turn. And at high speeds, you can implement "crab walk" to make lane changes easier. It makes a big difference with towing as well.
There is a massive profit motive, especially for trucking companies.
When there is enough money tho be made, it will be implemented.
I agree the logistics industry wants it. Though I think there may be problems to be solved for autonomous deliveries outside of the driving aspect (that is, the driver does a lot more than just drive). So I wonder if it'll pick up more if some of the other roadblocks for that are resolved...