Self-driving taxis are ferrying passengers across San Francisco and Phoenix, and they could be coming to a street near you very soon.

The two leading robotaxi companies, GM’s Cruise and Alphabet’s Waymo, are expanding commercial services to cities across the country, including Austin, Los Angeles, Miami, and New York City. They’re scaling up fast, and a third company, Amazon’s Zoox, is playing catch-up.

On August 10, the California Public Utilities Commission handed Cruise and Waymo a victory by allowing them to operate across San Francisco at all hours and charge fares. During a six-and-a-half-hour hearing, hundreds of residents testified for and against the robotaxis. Supporters claimed they were safer and more reliable than human-driven vehicles, and disabled people said they were more accessible, especially for service animals. Opponents, including transit and fire officials, argued that the taxis had repeatedly gotten in the way of emergency responders and had become a nuisance.

The very next day, Cruise cars snarled traffic in the city’s North Beach neighborhood after the Outside Lands Music Festival being held in the western part of the city caused wireless service problems and the cars lost contact with their central office. The traffic meltdown was proof to many that the cars were not ready for a larger rollout.