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When? That, my friend, is what we used to call the sixty-four dollar question!
There are approximately twice as many answers (aka guesses) to that as there are Tesla cars on the road, so by now that is something like 2+ million...!
Until all roads have an acceptable side lines, curbs, jersey barriers etc AND stop signs all have limit lines and so forth, I don't think I we'll be there anytime soon. Seems to me it's not a prior for most cities, counties and states are anxious to spend money to standardize and maintain. But MAYBE ole Uncle Joe can get that in his $4,000,000,000,000.00 stimulus package.