haven ridden in both a few times, yes, Waymo is head and shoulders better. It's smooth and I don't think I've ever seen any false alarms or behavior that made me feel unsafe in a Waymo, while I've had a few scary or annoying situations in the Teslas. I took a 6-minute robotaxi in drizzling weather where it parked in intersections twice because the cameras were obscured. Meanwhile Waymo can drive perfectly in heavy fog.

Both the Waymos and Teslas have that central display that shows you what the car sees (pedestrians, dogs, traffic cones, other cars, etc). The Waymo representation of the world reaches pretty far is is pretty much perfect from what I've seen. Meanwhile the Tesla one until recently had objects popping in and out.

Neither is perfect, of course; both will hesitate sometimes and creep along when (IMO) they should commit. But they're both still way better in that regard compared to the zoox autonomous cars I see in SF.

Tesla doesn't have a real robotaxi yet, they're still in the testing/prototyping phase where they need a safety driver or safety monitor in the car.

They might be close to a real robotaxi in some areas, but it's hard to say until they actually pull the trigger on removing any employees from the car.

Waymo cannot scale. So for most people it's irrelevant.

Tesla FSD makes driving 90% less taxing mentally. It does 99.9% of the driving perfectly. And its getting better. We are quickly approaching a situation where people who don't drive Teslas are like people who cut their grass with Sickle as compared to people who have driving lawn mowers

tesla robotaxi is worse than waymo was 3 years ago when I was a tester

Until just now I had no idea Tesla had a taxi service. Otoh I've seen hundreds of Waymos in SF and the west side of LA.