Maybe cities like Cairo are problems, not the algorithms that can't drive there.

The problem with respect to what? The end-goal of self-driving cars (and humanoid robots) is to work in the environments created for humans. Otherwise we can just put down rails across all cities and call it a tram, or design purpose-built robots for all tasks.

Edit: Stated more explicitly: the human world is the way it is because of many reasons and can't always be changed naively (it's not like nobody in Cairo has thought about improving the traffic situation, or architects haven't thought about the ease of cleaning different flooring material). Robots which are general purpose with respect to their human-like capabilities must necessarily also accept a world in which humans live.