Off-roading aspirations and 3rd row legroom (S1) seem to be major differentiators from Rivian.

As for autonomy, Waymos have LIDARs which at least provides more redundancy.

I see these as different design tradeoffs so no judgment implied.

I bought a 2018 Model 3 that was later upgrade with HW3. I paid about $10K extra for the full auto-pilot. Elon back then said that eventually the car will come pick me up from the airport. That was a nice dream. Nearly 10 years later, my Tesla still cannot do that.

$10K for full autopilot on Tesla in 2018 was essentially a fraud. I have since then learned not to trust anything Elon says.

Waymo uses Lidar and radar as well as cameras and so is fundamentally superior to Tesla's camera only approach.

I, independently, made almost exactly the same comment before seeing yours lol. I already do 20+ hour cross-country trips in my Y without a break to sleep, which is only possible because I'm not meaningfully fatigued driving. it's still technically supervised but I think that's beyond the point OP is making