Why does Waymo not have a problem with it? It did really well in dense streets with people barely pulling over to stop and run into a storefront or picking people up from a restaurant. It would pause for a second, put on turning signals, and then pull around the stopped car. It did this several times, in fact in spots where I would have waited because its estimation of distance and obstacles in a 360deg around the vehicle is flat out better than me as a human. I was really impressed.