<< Wi-Fi has the self-assigned IP address of xxxxxx and will not be able to connect to the Internet. >>
EVERY internet-capable device assigns itself such an address for identification purposes while it obtains a good local IP address from the Router. it is usually replaced in a few seconds with a good local IP address.
The symptom that yours is stuck at that point suggest the Router will not talk to you. This is most often caused by GROSS issues like bad cables or too far away from Router, than minutia like configuration.
(But you DO need to undo 'link-local only' and use DHCP.)