Tesla self-driving doesn't exist and will only work on Tesla vehicles if they ever develop the capability.
Waymo self-driving works now and has been demonstrated on multiple vehicles. Waymo could utilize the manufacturing capacity of the entire auto-industry.
Pretty much exactly what companies like Waymo are trying to do.
I'm not sure Tesla level vertical integration is really necessary.
An example of this is that in robotics, the ability to properly insert a piston into an engine block without damage to the piston or block was an unsolved problem for some time in robotics. Doing so using machine vision and robotics control theory required engineering constraints that resulted in a too slow and expensive a mechanism for mechanized assembly lines.
Because of the total control of the assembly line, this problem was solved in the physical space through a reactive physical assembly using two connected planes (I'm sorry but I'm having a hell of a time tracking down a reference) rather than in software.