Is the Vellfire something that makes sense as a self drive vehicle, or is it best enjoyed as a chauffeur driven car?

Toyota Vellfires are seen as chauffeur driven luxury vehicles, but some owners like to drive it themselves. It has resulted in discussions about whether the Vellfire is as enjoyable as a self drive car. Among these being debated are driving dynamics, how it feels to operate in city traffic (especially its parking challenges), and how it feels to drive compared to other luxury vehicles. Some people say that the Vellfire's comfort features are best enjoyed from the back seat, while others note that the car's modern features, and good visibility make it a pleasant car to drive. It also goes into cultural elements, as in some markets luxury vans are viewed primarily as chauffeur driven vehicles and in others as family cars driven by owners.