We calculate basis-space converged neutrinoless $beta beta$ decay nuclear matrix elements for the lightest candidates: 48Ca, 76Ge and 82Se. Starting from initial two- and three-nucleon forces, we apply the ab initio in-medium similarity renormalization group to construct valence-space Hamiltonians and consistently transformed $beta beta$-decay operators. We find that the tensor component is non-negligible in 76Ge and 82Se, and resulting nuclear matrix elements are overall 25-45% smaller than those obtained from the phenomenological shell model. While a final matrix element with uncertainties still requires substantial developments, this work nevertheless opens a path toward a true first-principles calculation of neutrinoless $beta beta$ decay in all nuclei relevant for ongoing large-scale searches.