It has felt much much better in recent months. Did a drive from SF to Yosemite that was basically fully autonomous - can’t do that on Waymo. That being said, I still had two issues in the city where it completely screwed up by being in the wrong lane. Humans make the same error but my one concern was that it doesn’t realize it’s in the wrong lane and try to safely just go the wrong direction and recover and instead just tries to take the “correct” route at all costs which can be a safety issue.

I agree that Waymo is generally safer for in city driving. It’s still not technically fully autonomous even though it appears that way; it has a lot of support people on the backend to resolve when the cars get stuck and whatnot. Waymo still can’t go on the highway or leave well-defined city limits whereas I can use my Tesla on every trip I’ve taken. I think comma.ai is a closer comparison point at this time as I can’t have a Waymo for my own personal use that I can take anywhere whenever.