Autonomous driving aims to enhance road safety, reduce traffic congestion, and improve transportation efficiency through intelligent vehicle automation. In this chapter, we describe the evolution of the autonomous navigation of vehicles in urban environments. Starting from the first projects that presented their potential applications, we describe the history and current state of these autonomous vehicles, from those driving in public roads to autonomous last-mile delivery robots. Here, we present the main challenges and solutions of these projects and analyze their current technological trends. Further, we present the robot Ona, a prototype designed for last-mile delivery operations, providing details of its configuration, a comparison with respect to other existing solutions, and describing its navigation stack intricacies.