Shorters, page-317

I think he is saying that the software will be Level 5 capable by the end of 2021 (though he's been a little over-optimistic before). That is not the same as enabling Level 5 - it will still require driver attention and hands on steering wheel and whatever else is required for Level 2.

There will no doubt be a considerable delay (perhaps years) before any self driving system is certified Level 5.

Waymo is the most advanced at the moment - Level 4. Level 4 is essentially Level 5 geofenced to areas where the car has detailed map data available. Tesla does not rely on maps, which will pose another challenge for regulators. Interesting couple of years ahead!

https://www.synopsys.com/automotive/autonomous-driving-levels.html