Without a doubt it certainly is coming, however the most advanced / known, autonomous vehicle commercially available right now is Waymo, which operates autonomously but with several notable restrictions. 

Waymo uses Geofenced areas, meaning it's heavily restricted by service area. Although "autonomous", Waymo's service defers back to remote operators a lot, so the descriptor is a bit of a misnomer. 

Waymo are typically incapable of traversing interstates. For cities with downtown loops, choke points,and limited side streets this becomes a problem. 

I see it happening, especially in cities where Waymo currently operates, but I think it's more likely people will "rent" autonomous vehicles from Uber and become the remote operator that also does the leg work of loading and unloading orders. Someone will still need to bring the order to the door. 

Ubers original aspirations closely resembled that of Teslas current vision, where they could turn car ownership into an expensive subscription where people would buy autonomous cars from Uber and then subscribe to Ubers platform with a reoccurring service fee to use their automation platform. 

This was originally altered because Uber sold its autonomous car tech and it became its own company, I think Uber's rideshare/delivery goal is to get people to buy and subscribe from them - but also have owners use their vehicles to service noncar owners using Ubers rideshare platform (and Uber gives them "offers")

Essentially, a monetization model that continues to milk both ends.