https://teslafsdtracker.com/Community tracking shows 2600+ miles between critical disengagements in California, where the mapping is probably the best (if we're going to make a fair comparison to Waymo). Most recent firmware shows 98% of trips have no disengagement at all in California, too. If you made the operating zones extremely tight like Waymo, I'm sure it'd do even better.
Your link states this:
> In the most ambiguous situations ...[it] requests [to humans] to optimize the driving path. [Humans] can influence the Waymo's path, whether indirectly through indicating lane closures, explicitly requesting the AV use a particular lane, or, in the most complex scenarios, explicitly proposing a path for the vehicle to consider.
It's literally a human drawing a line on the map telling the car where to go, in the most manual of ways. It's not an xbox steering wheel and driving remotely, but it's absolutely the same concept with a different interface, including a remote brake button.